[Vehicle Model] How can I apply the kinematics and dynamics of an articulated vehicle?

[Parkeunseok]

If I want to apply the kinematics or dynamics of an articulated vehicle (such as an articulated truck or trailer) in Autoware, which parts of the system should I modify, and how should I go about making those changes?

I am a student studying Autoware, and I would like to know how to apply various vehicle models, not just the standard passenger vehicle model.

[liuXinGangChina]

good question @Parkeunseok

for now autoware does not support articulated truck, it only provide path plan and collision avoidence for the Truck tractor, not counting the trailer.

it would be better to integrate some well-known planning code into autoware, since autoware is following the modulized design principle, it will take some time but not unreachable.

happy hacking!