change bridge and chassis for calculate acc.

src/detection/detection_chassis/decodechassis.cpp

@@ -513,8 +513,8 @@ int ProcShenLanCANFDChassis(void *pa, iv::can::canmsg *pmsg)
                 xchassis.set_time(std::chrono::system_clock::now().time_since_epoch().count());
 
                 ShareChassis(pa,&xchassis);
-                xchassis.clear_angle_feedback();
-                std::cout<<"veh: "<<xchassis.vel()<<std::endl;
+  //              xchassis.clear_angle_feedback();
+  //              std::cout<<"veh: "<<xchassis.vel()<<std::endl;
             }
             else
             {
@@ -538,7 +538,7 @@ int ProcShenLanCANFDChassis(void *pa, iv::can::canmsg *pmsg)
 
                 xchassis.set_angle_feedback(static_cast<float>(ang));
      //           ShareChassis(pa,&xchassis);
-                std::cout<<"ang: "<<xchassis.angle_feedback()<<std::endl;
+                if(ang<30)std::cout<<"ang: "<<xchassis.angle_feedback()<<std::endl;
             }
             else
             {

src/ros2/src/pilot_autoware_bridge/src/pilot_autoware_bridge_core.cpp

@@ -361,19 +361,22 @@ void pilot_autoware_bridge::callbackTimerGPS()
             int64_t nchassis_now = xchassis.time();
             int64_t ndiff = nchassis_now - nchassislast;
             double fdiff = ndiff/1e9;
-            if(fdiff > 0)
+            if(fdiff >= 0.1)
             {
                 gfchassis_acc = (fchassis_veh_now - fchassis_veh_last) /fdiff;
-                std::cout<<" acc: "<<gfchassis_acc<<std::endl;
+                std::cout<<" calc acc: "<<gfchassis_acc<<std::endl;
+                nchassislast = nchassis_now;
+                fchassis_veh_last = fchassis_veh_now;
+  //              std::cout<<" acc: "<<gfchassis_acc<<std::endl;
             }
             else
             {
-                gfchassis_acc = 0;
+      //          std::cout<<" fdiff: "<<fdiff<<"ndiff: "<<ndiff<<std::endl;
+    //            gfchassis_acc = 0;
             }
-            nchassislast = nchassis_now;
-            fchassis_veh_last = fchassis_veh_now;
+
             nochassiscount = 0;
-  //          std::cout<<" steer : "<<steear_now<<std::endl;
+  //          if(steear_now < 0.13)std::cout<<nchassis_now<<" steer : "<<steear_now<<std::endl;
         }
 
     }