What is CARLA's convention for right/left turns (cross product | steering angle sign)?

[jorgedanielrodrividal]

Dear CARLA CVC team,

Thank you for your outstanding work in developing and maintaining CARLA.

I am currently studying the global_route_planner script. Prior to this, I assumed that CARLA followed the convention of using a positive steering angle for left turns (i.e., a positive cross product based on the Right Hand Rule) and a negative steering angle for right turns (i.e., a negative cross product), as that is the convention implemented in controller. However, while reviewing the global_route_planner script, I came across:

...
elif cross_list and next_cross < min(cross_list):
    decision = RoadOption.LEFT
...

Given that next_cross < min(cross_list), it follows that next_cross is more negative than the most negative cross-product vector in cross_list. Based on the convention I previously mentioned, I would expect this to be classified as a right turn instead. However, the convention logic appears to be reversed in this script.

Could you kindly clarify why the cross-product convention is flipped in this context?

Thank you in advance,
Jorge Daniel.