55 unexpected steering inversion when driving in reverse using teleop#57
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MathieuMRodrigue merged 2 commits intoros2from Mar 17, 2026
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MathieuMRodrigue
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This bug isn't really a bug from our code but mainly from how gazebo use the command. From my understanding, the code in racecar_gazebo isn't completed (cmd_vel_to_ackermann, gazebo_odometry and servo_commands) aren't use.
As a hotfix, i made a node that will make the command (driver-centric). I tested it on gazebo, steering is not reversed with this fix.
Maybe to be discussed on what was the purpose of thoses files in racecar_gazebo ( maybe i'm wrong )