fix(mkmini): allow steering at low manual control speeds

src/vehicle_pkg/config/vehicle_drivers/vehicle_driver_yhs_can.yaml

@@ -12,5 +12,6 @@ vehicle_driver:
     input_topic: /cmd_vel
     output_topic: /tod_cmd
     angular_deadband: 0.06
-    min_speed_for_steer: 0.15
+    # Allow the viewer's 0.1 m/s manual control without increasing its speed cap.
+    min_speed_for_steer: 0.05
     max_speed: 0.3

src/vehicle_pkg/test/test_manual_steering.py

@@ -0,0 +1,53 @@
+"""Exercise the real TOD conversion without ROS or connected hardware."""
+import ast
+import math
+from pathlib import Path
+from types import SimpleNamespace
+import unittest
+
+import yaml
+
+
+class ManualSteeringTest(unittest.TestCase):
+    def setUp(self):
+        root = Path(__file__).resolve().parents[1]
+        source = ast.parse((root / "vehicle_pkg/cmd_vel_to_tod.py").read_text())
+        clamp = next(item for item in source.body if isinstance(item, ast.FunctionDef) and item.name == "clamp")
+        adapter = next(item for item in source.body if isinstance(item, ast.ClassDef) and item.name == "CmdVelToTod")
+        convert = next(item for item in adapter.body if isinstance(item, ast.FunctionDef) and item.name == "_on_cmd_vel")
+        scope = {"math": math, "Twist": SimpleNamespace, "Float64MultiArray": SimpleNamespace}
+        exec(compile(ast.Module(body=[clamp, convert], type_ignores=[]), "tod-test", "exec"), scope)
+        self.convert = scope["_on_cmd_vel"]
+        driver = yaml.safe_load((root / "config/vehicle_drivers/vehicle_driver_yhs_can.yaml").read_text())["vehicle_driver"]["adapter_params"]
+        platform = yaml.safe_load((root / "config/platforms/platform_mkmini.yaml").read_text())["platform"]
+        self.messages = []
+        self.node = SimpleNamespace(
+            max_speed=driver["max_speed"],
+            min_spd_steer=driver["min_speed_for_steer"],
+            angular_db=driver["angular_deadband"],
+            wheelbase=platform["wheelbase"],
+            max_steer_rad=platform["max_steering_angle"],
+            _pub=SimpleNamespace(publish=lambda msg: self.messages.append(msg.data)),
+        )
+
+    def command(self, linear, angular):
+        self.convert(self.node, SimpleNamespace(linear=SimpleNamespace(x=linear), angular=SimpleNamespace(z=angular)))
+        return self.messages[-1]
+
+    def test_low_speed_forward_and_reverse_steering(self):
+        for linear, gear in [(0.1, 4.0), (-0.1, 2.0)]:
+            for angular in [-0.08, 0.08]:
+                speed, _, steering, actual_gear = self.command(linear, angular)
+                self.assertEqual(speed, 0.1)
+                self.assertEqual(actual_gear, gear)
+                self.assertGreater(steering * angular, 0)
+                self.assertLessEqual(abs(steering), math.degrees(self.node.max_steer_rad))
+
+    def test_stop_and_steering_only_do_not_drive(self):
+        for angular in [0, 0.08, -0.08]:
+            speed, _, steering, _ = self.command(0, angular)
+            self.assertEqual((speed, steering), (0, 0))
+
+
+if __name__ == "__main__":
+    unittest.main()