fix: wheel flicker (#172)

Signed-off-by: Alptuğ Cırıt <[email protected]>
autowarefoundation · Oct 3, 2024 · 07f9420 · 07f9420
1 parent 4f9bbbb
commit 07f9420
Showing 1 changed file with 2 additions and 8 deletions.
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs
@@ -173,10 +173,6 @@ private void Start()
             // Set initial vehicle gear to Park to prevent movement
             _vehicleController.data.bus[Channel.Input][InputData.AutomaticGear] = (int)Gearbox.AutomaticGear.P;
 
-            // reset vpp stuff for multi-scene loading (no idea why, but it works)
-            _vehicleController.enabled = false;
-            _vehicleController.enabled = true;
-
             // Subscribe to events
             _egoVehiclePositionManager = FindObjectOfType<EgoVehiclePositionManager>();
             if (_egoVehiclePositionManager != null)
@@ -268,10 +264,8 @@ public void HandleSteer()
 
         private void SetWheelSteerAngleDirectly(float angle)
         {
-            foreach (var wheel in _frontWheels)
-            {
-                wheel.steerAngle = angle;
-            }
+            _vehicleController.wheelState[1].steerAngle = angle;
+            _vehicleController.wheelState[0].steerAngle = angle;
         }
 
         // temp method to simulate steering wheel input with delay, also inaccurate (mozzz)