vehicle-dynamics

name	vehicle-dynamics
description	CARLA 车辆动力学仿真 — 轮胎模型、动力传动、车辆物理参数配置，支持 CARLA-ROS2 桥接
argument-hint	CARLA 车辆 OR vehicle dynamics OR 车辆动力学 OR 轮胎模型 OR carla
user-invocable	true

vehicle-dynamics — CARLA 车辆动力学 SKILL

引用技能

• agents/skills/simulation/gazebo/
• agents/skills/ros2-debug/

CARLA 车辆配置

# 设置车辆物理参数
vehicle_physics = carla.VehiclePhysicsControl(
    torque_curve=[(0, 500), (3000, 800)],
    max_rpm=6000,
    drag_coefficient=0.3,
    center_of_mass=carla.Vector3D(0, 0, -0.5),
)

轮胎模型

# Pacejka 轮胎模型参数
wheel_friction=0.8,
roll_friction=0.1,

ROS2 桥接

# CARLA → ROS2
carla_ros_bridge  # 自动桥接
/carla/vehicle/odometry → /odom
/carla/vehicle/cmd_vel → /cmd_vel

禁止

• ❌ 不做车辆参数标定就用（与真实车行为差异大）