Hi all, I have a question on the
apply_control() function. It says that the function would apply a control command (e.g. throttle/brake) on the next tick. I’m assuming it would only apply for a single next tick, right? Then it’s important to know the tick step length. Let’s say, if every tick is 0.005s, then the control object would only be applied in 0.005s. In real life, we press the pedal, the throttle/brake would be continuing in a few seconds. To guarantee continuity, I think the client should know the tick delta_t, so as it remains the loop with the same rate. If the client calls the
apply_control() with a slower rate, e.g. 0.01s, I guess we would have the discontinuity due to the different time steps. Is it a real concern here?
I asked this question because I feel the throttle command is not strong enough to speed up the vehicle. I’m using the default asynch mode, and repeat my
apply_control(throttle) every 0.01s. It usually requires very large value, like 0.6~0.8 throttle to really accelerate the car. Since I’m using a PID velocity controller designed for realistic cars, 0.2~0.5 gas are normal but they seem too mild for cars in Carla. Now I’m concerned about the frequency of control commands in my implementation. For the default asynch mode, is it ok to call the
apply_control(throttle) every 0.01s? Can anyone share some comments?