Added support for asymmetric mapping between the steering angle and the steering control signal.

src/model_car_control_alg_node.cpp

@@ -92,7 +92,10 @@ void ModelCarControlAlgNode::mainNodeThread(void)
           else if(this->control_AckermannDriveStamped_msg_.drive.speed<this->config_.min_speed_control)
             this->control_AckermannDriveStamped_msg_.drive.speed=this->config_.min_speed_control;
           //angular speed
-          this->control_AckermannDriveStamped_msg_.drive.steering_angle=this->steer_angle_control*(this->config_.max_steer_control-this->config_.min_steer_control)/(this->config_.max_steer_angle-this->config_.min_steer_angle);
+          if(this->steer_angle_control>=0)
+            this->control_AckermannDriveStamped_msg_.drive.steering_angle=(this->steer_angle_control/this->config_.max_steer_angle)*this->config_.max_steer_control;
+          else 
+            this->control_AckermannDriveStamped_msg_.drive.steering_angle=(this->steer_angle_control/this->config_.min_steer_angle)*this->config_.min_steer_control;
         }
         last_time=this->feedback_time;
       }