From d73d39e96300c73679b3ae8760f44123f013c5e2 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 11 Mar 2021 10:08:00 +0000
Subject: [PATCH] Change steering angle sign

---
 src/model_car_actuators.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/model_car_actuators.cpp b/src/model_car_actuators.cpp
index 27a16eb..5d37481 100644
--- a/src/model_car_actuators.cpp
+++ b/src/model_car_actuators.cpp
@@ -33,6 +33,7 @@ void CModelCarActuators::send_command(double speed,double steering)
   this->send_request(ID_ARD_ACT_SPEED_CONTR,1, &cmd);
 
   // remap steering
+  steering = -steering;
   steering = steering > 100.f ? 100.f : steering;
   steering = steering < -100.f ? -100.f : steering;
   steering += 100.f;
-- 
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