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

src/vanjee/vanjee_lidar_sdk/src/vanjee_driver/cmake/vanjee_driverConfig.cmake

@@ -20,8 +20,8 @@ if(${ENABLE_TRANSFORM})
   add_definitions("-DENABLE_TRANSFORM")
 endif(${ENABLE_TRANSFORM})
 
-set(vanjee_driver_INCLUDE_DIRS "/home/dgist/Desktop/module/nav2_MKminivehicle_ws/src/vanjee/vanjee_lidar_sdk/src/vanjee_driver/src;/usr/local/vanjee_lidar_sdk/include")
-set(VANJEE_DRIVER_INCLUDE_DIRS "/home/dgist/Desktop/module/nav2_MKminivehicle_ws/src/vanjee/vanjee_lidar_sdk/src/vanjee_driver/src;/usr/local/vanjee_lidar_sdk/include")
+set(vanjee_driver_INCLUDE_DIRS "/modules/[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws/src/vanjee/vanjee_lidar_sdk/src/vanjee_driver/src;/usr/local/vanjee_lidar_sdk/include")
+set(VANJEE_DRIVER_INCLUDE_DIRS "/modules/[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws/src/vanjee/vanjee_lidar_sdk/src/vanjee_driver/src;/usr/local/vanjee_lidar_sdk/include")
 
 set(vanjee_driver_LIBRARIES "pthread")
 set(VANJEE_DRIVER_LIBRARIES "pthread")

src/vehicle_pkg/config/platforms/platform_mkmini.yaml

@@ -16,8 +16,22 @@ platform:
   wheelbase:          0.6          # m  (= 기존 vehicle_mkmini.yaml cmd_vel_to_*.wheelbase)
   max_steering_angle: 0.5          # rad
   max_speed:          0.6          # m/s (sim 상한; 실차 안전상한은 vehicle_driver 프로파일)
-  track_width:                     # m  — 미측정 (현재 odom/TF 미사용). 측정 후 기입
-  wheel_radius:                    # m  — 미측정 (현재 미사용)
+  track_width:        0.51         # m  (실측 휠 중심 간 거리)
+  wheel_radius:       0.12         # m  (실측)
+  wheel_width:        0.05         # m  (실측)
+  front_overhang:     0.12         # m  (실측)
+  rear_overhang:      0.12         # m  (실측)
+  left_overhang:      0.05         # m  (실측)
+  right_overhang:     0.05         # m  (실측)
+  lidar_mount:
+    x: 0.15                         # m, base_link 기준
+    y: 0.0
+    z: 0.5
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+    frame_id: base_link
+    child_frame_id: os_lidar
 
   # 드라이버 선택 (선택 source = 이 데이터. registry.py 는 이름→노드만)
   default_vehicle_driver: yhs_can          # 실차 (sim_mode=false)

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()

src/yhs_can/yhs_can_control/include/yhs_can_control/yhs_can_control_node.hpp

@@ -58,6 +58,7 @@ private:
   
   rclcpp::Publisher<yhs_can_interfaces::msg::ChassisInfoFb>::SharedPtr chassis_info_fb_publisher_;
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
+  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr steering_angle_pub_;
   
   void io_cmd_callback(const yhs_can_interfaces::msg::IoCmd::SharedPtr io_cmd_msg);
   
@@ -75,4 +76,3 @@ private:
 
 
 #endif
-

src/yhs_can/yhs_can_control/src/yhs_can_control_node.cpp

@@ -19,6 +19,7 @@
 		chassis_info_fb_publisher_ = node_->create_publisher<yhs_can_interfaces::msg::ChassisInfoFb>("chassis_info_fb", 1);
 		
 		odom_pub_ = node_->create_publisher<nav_msgs::msg::Odometry>("odom", 1);
+		steering_angle_pub_ = node_->create_publisher<std_msgs::msg::Float64>("/mkmini/steering_angle", 1);
 	}
 
 	void CanControl::io_cmd_callback(const yhs_can_interfaces::msg::IoCmd::SharedPtr io_cmd_msg)
@@ -172,6 +173,9 @@ whether the can line is connected correctly, and whether the chassis is powered
 							chassis_info_msg.header.stamp = node_->get_clock()->now();
 							chassis_info_msg.ctrl_fb = msg;
 							chassis_info_fb_publisher_->publish(chassis_info_msg);
+							std_msgs::msg::Float64 steering_angle;
+							steering_angle.data = msg.ctrl_fb_steering / 180.0 * M_PI;
+							steering_angle_pub_->publish(steering_angle);
 							if(msg.ctrl_fb_gear == 2) msg.ctrl_fb_velocity = -msg.ctrl_fb_velocity;
 							publish_odom(msg.ctrl_fb_velocity, msg.ctrl_fb_steering/180*3.1415);
 						}