Common: added steering_percentage to vehicle provider.

modules/common/vehicle_state/proto/vehicle_state.proto

@@ -21,4 +21,5 @@ message VehicleState {
   optional apollo.canbus.Chassis.GearPosition gear = 13;
   optional apollo.canbus.Chassis.DrivingMode driving_mode = 14;
   optional apollo.localization.Pose pose = 15;
+  optional double steering_percentage = 16;
 }

modules/common/vehicle_state/vehicle_state_provider.cc

@@ -67,6 +67,10 @@ Status VehicleStateProvider::Update(
     }
   }
 
+  if (chassis.has_steering_percentage()) {
+    vehicle_state_.set_steering_percentage(chassis.steering_percentage());
+  }
+
   static constexpr double kEpsilon = 1e-6;
   if (std::abs(vehicle_state_.linear_velocity()) < kEpsilon) {
     vehicle_state_.set_kappa(0.0);
@@ -189,6 +193,10 @@ double VehicleStateProvider::linear_acceleration() const {
 
 double VehicleStateProvider::gear() const { return vehicle_state_.gear(); }
 
+double VehicleStateProvider::steering_percentage() const {
+  return vehicle_state_.steering_percentage();
+}
+
 double VehicleStateProvider::timestamp() const {
   return vehicle_state_.timestamp();
 }

modules/common/vehicle_state/vehicle_state_provider.h

@@ -152,6 +152,12 @@ class VehicleStateProvider {
    */
   double gear() const;
 
+  /**
+   * @brief Get the vehicle's steering angle.
+   * @return double
+   */
+  double steering_percentage() const;
+
   /**
    * @brief Set the vehicle's linear velocity.
    * @param linear_velocity The value to set the vehicle's linear velocity.