rover: clean up velocity setpoint

msg/AckermannVelocitySetpoint.msg

@@ -1,4 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32[2] velocity_ned # 2-dimensional velocity setpoint in NED frame [m/s]
-bool backwards	        # Flag for backwards driving

msg/CMakeLists.txt

@@ -37,7 +37,6 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)
 
 set(msg_files
-	AckermannVelocitySetpoint.msg
 	ActionRequest.msg
 	ActuatorArmed.msg
 	ActuatorControlsStatus.msg
@@ -64,7 +63,6 @@ set(msg_files
 	DebugValue.msg
 	DebugVect.msg
 	DifferentialPressure.msg
-	DifferentialVelocitySetpoint.msg
 	DistanceSensor.msg
 	DistanceSensorModeChangeRequest.msg
 	Ekf2Timestamps.msg
@@ -131,7 +129,6 @@ set(msg_files
 	ManualControlSwitches.msg
 	MavlinkLog.msg
 	MavlinkTunnel.msg
-	MecanumVelocitySetpoint.msg
 	MessageFormatRequest.msg
 	MessageFormatResponse.msg
 	Mission.msg
@@ -181,6 +178,7 @@ set(msg_files
 	RoverRateStatus.msg
 	RoverSteeringSetpoint.msg
 	RoverThrottleSetpoint.msg
+	RoverVelocitySetpoint.msg
 	RoverVelocityStatus.msg
 	Rpm.msg
 	RtlStatus.msg

msg/MecanumVelocitySetpoint.msg

@@ -1,5 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 speed # [m/s] [-inf, inf] Speed setpoint
-float32 bearing         # [rad] [-pi, pi] from North.
-float32 yaw 	        # [rad] [-pi, pi] (Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame

msg/RoverVelocitySetpoint.msg

@@ -2,3 +2,4 @@ uint64 timestamp # time since system start (microseconds)
 
 float32 speed   # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
 float32 bearing # [rad] [-pi,pi] from North.
+float32 yaw 	# [rad] [-pi, pi] (Mecanum only, Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame

src/modules/logger/logged_topics.cpp

@@ -45,7 +45,6 @@ using namespace px4::logger;
 
 void LoggedTopics::add_default_topics()
 {
-	add_optional_topic("ackermann_velocity_setpoint", 100);
 	add_topic("action_request");
 	add_topic("actuator_armed");
 	add_optional_topic("actuator_controls_status_0", 300);
@@ -58,7 +57,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("commander_state");
 	add_topic("config_overrides");
 	add_topic("cpuload");
-	add_optional_topic("differential_velocity_setpoint", 100);
 	add_topic("distance_sensor_mode_change_request");
 	add_optional_topic("external_ins_attitude");
 	add_optional_topic("external_ins_global_position");
@@ -93,7 +91,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("magnetometer_bias_estimate", 200);
 	add_topic("manual_control_setpoint", 200);
 	add_topic("manual_control_switches");
-	add_optional_topic("mecanum_velocity_setpoint", 100);
 	add_topic("mission_result");
 	add_topic("navigator_mission_item");
 	add_topic("navigator_status");
@@ -115,6 +112,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("rover_rate_status", 100);
 	add_optional_topic("rover_steering_setpoint", 100);
 	add_optional_topic("rover_throttle_setpoint", 100);
+	add_optional_topic("rover_velocity_setpoint", 100);
 	add_optional_topic("rover_velocity_status", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp

@@ -39,7 +39,7 @@ AckermannPosControl::AckermannPosControl(ModuleParams *parent) : ModuleParams(pa
 {
 	_pure_pursuit_status_pub.advertise();
 	_rover_position_setpoint_pub.advertise();
-	_ackermann_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 
 	// Initially set to NaN to indicate that the rover has no position setpoint
 	_rover_position_setpoint.position_ned[0] = NAN;
@@ -167,13 +167,12 @@ void AckermannPosControl::manualPositionMode()
 	if (fabsf(yaw_delta) > FLT_EPSILON
 	    || fabsf(speed_setpoint) < FLT_EPSILON) { // Closed loop yaw rate control
 		_course_control = false;
-		const float yaw_setpoint = matrix::wrap_pi(_vehicle_yaw + yaw_delta);
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = fabsf(speed_setpoint) * cosf(yaw_setpoint);
-		ackermann_velocity_setpoint.velocity_ned[1] = fabsf(speed_setpoint) * sinf(yaw_setpoint);
-		ackermann_velocity_setpoint.backwards = speed_setpoint < -FLT_EPSILON;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		const float yaw_setpoint = matrix::wrap_pi(_vehicle_yaw + sign(speed_setpoint) * yaw_delta);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else { // Course control if the steering input is zero (keep driving on a straight line)
 		if (!_course_control) {
@@ -189,16 +188,17 @@ void AckermannPosControl::manualPositionMode()
 						     vector_scaling * _pos_ctl_course_direction;
 		pure_pursuit_status_s pure_pursuit_status{};
 		pure_pursuit_status.timestamp = _timestamp;
-		const float yaw_setpoint = PurePursuit::calcTargetBearing(pure_pursuit_status, _param_pp_lookahd_gain.get(),
-					   _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _pos_ctl_start_position_ned,
-					   _curr_pos_ned, fabsf(speed_setpoint));
+		const float bearing_setpoint = PurePursuit::calcTargetBearing(pure_pursuit_status, _param_pp_lookahd_gain.get(),
+					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _pos_ctl_start_position_ned,
+					       _curr_pos_ned, fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = fabsf(speed_setpoint) * cosf(yaw_setpoint);
-		ackermann_velocity_setpoint.velocity_ned[1] = fabsf(speed_setpoint) * sinf(yaw_setpoint);
-		ackermann_velocity_setpoint.backwards = speed_setpoint < -FLT_EPSILON;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
+				bearing_setpoint + M_PI_F);
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
+
 	}
 }
 
@@ -224,12 +224,11 @@ void AckermannPosControl::autoPositionMode()
 	}
 
 	if (auto_stop) {
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = 0.f;
-		ackermann_velocity_setpoint.velocity_ned[1] = 0.f;
-		ackermann_velocity_setpoint.backwards = false;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else { // Regular guidance algorithm
 		const float speed_setpoint = calcSpeedSetpoint(_cruising_speed, _min_speed, distance_to_prev_wp,
@@ -242,12 +241,11 @@ void AckermannPosControl::autoPositionMode()
 					   _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _curr_wp_ned, _prev_wp_ned, _curr_pos_ned,
 					   fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = fabsf(speed_setpoint) * cosf(yaw_setpoint);
-		ackermann_velocity_setpoint.velocity_ned[1] = fabsf(speed_setpoint) * sinf(yaw_setpoint);
-		ackermann_velocity_setpoint.backwards = false;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	}
 }
@@ -372,20 +370,18 @@ void AckermannPosControl::goToPositionMode()
 					   _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _curr_pos_ned,
 					   _curr_pos_ned, fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = fabsf(speed_setpoint) * cosf(yaw_setpoint);
-		ackermann_velocity_setpoint.velocity_ned[1] = fabsf(speed_setpoint) * sinf(yaw_setpoint);
-		ackermann_velocity_setpoint.backwards = false;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else {
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = 0.f;
-		ackermann_velocity_setpoint.velocity_ned[1] = 0.f;
-		ackermann_velocity_setpoint.backwards = false;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.hpp

@@ -50,7 +50,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/rover_position_setpoint.h>
-#include <uORB/topics/ackermann_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/trajectory_setpoint.h>
@@ -181,10 +181,10 @@ private:
 	rover_position_setpoint_s _rover_position_setpoint{};
 
 	// uORB publications
-	uORB::Publication<ackermann_velocity_setpoint_s> _ackermann_velocity_setpoint_pub{ORB_ID(ackermann_velocity_setpoint)};
-	uORB::Publication<position_controller_status_s>	 _position_controller_status_pub{ORB_ID(position_controller_status)};
-	uORB::Publication<pure_pursuit_status_s>	 _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
-	uORB::Publication<rover_position_setpoint_s>	 _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<rover_velocity_setpoint_s>    _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
+	uORB::Publication<position_controller_status_s>	_position_controller_status_pub{ORB_ID(position_controller_status)};
+	uORB::Publication<pure_pursuit_status_s>	_pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
+	uORB::Publication<rover_position_setpoint_s>	_rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp

@@ -39,7 +39,7 @@ AckermannVelControl::AckermannVelControl(ModuleParams *parent) : ModuleParams(pa
 {
 	_rover_throttle_setpoint_pub.advertise();
 	_rover_velocity_status_pub.advertise();
-	_ackermann_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 	_rover_attitude_setpoint_pub.advertise();
 	updateParams();
 }
@@ -128,31 +128,22 @@ void AckermannVelControl::generateVelocitySetpoint()
 	const Vector2f velocity_in_local_frame(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
 
 	if (offboard_vel_control && velocity_in_local_frame.isAllFinite()) {
-		ackermann_velocity_setpoint_s ackermann_velocity_setpoint{};
-		ackermann_velocity_setpoint.timestamp = _timestamp;
-		ackermann_velocity_setpoint.velocity_ned[0] = velocity_in_local_frame(0);
-		ackermann_velocity_setpoint.velocity_ned[1] = velocity_in_local_frame(1);
-		ackermann_velocity_setpoint.backwards = false;
-		_ackermann_velocity_setpoint_pub.publish(ackermann_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_in_local_frame.norm();
+		rover_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 
 void AckermannVelControl::generateAttitudeAndThrottleSetpoint()
 {
-	if (_ackermann_velocity_setpoint_sub.updated()) {
-		_ackermann_velocity_setpoint_sub.copy(&_ackermann_velocity_setpoint);
-	}
-
-	const Vector2f velocity_ned = Vector2f(_ackermann_velocity_setpoint.velocity_ned[0],
-					       _ackermann_velocity_setpoint.velocity_ned[1]);
-
-	// Santitize input
-	if (!velocity_ned.isAllFinite()) {
-		return;
+	if (_rover_velocity_setpoint_sub.updated()) {
+		_rover_velocity_setpoint_sub.copy(&_rover_velocity_setpoint);
 	}
 
 	// Attitude Setpoint
-	if (velocity_ned.norm() < FLT_EPSILON) {
+	if (fabsf(_rover_velocity_setpoint.speed) < FLT_EPSILON) {
 		rover_attitude_setpoint_s rover_attitude_setpoint{};
 		rover_attitude_setpoint.timestamp = _timestamp;
 		rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
@@ -161,15 +152,13 @@ void AckermannVelControl::generateAttitudeAndThrottleSetpoint()
 	} else {
 		rover_attitude_setpoint_s rover_attitude_setpoint{};
 		rover_attitude_setpoint.timestamp = _timestamp;
-		const float yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
-		rover_attitude_setpoint.yaw_setpoint = _ackermann_velocity_setpoint.backwards ? matrix::wrap_pi(
-				yaw_setpoint + M_PI_F) : yaw_setpoint;
+		rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;
 		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
 	}
 
 	// Throttle Setpoint
-	const float speed_magnitude = math::min(velocity_ned.norm(), _param_ro_speed_limit.get());
-	const float speed_setpoint = _ackermann_velocity_setpoint.backwards ? -speed_magnitude : speed_magnitude;
+	const float speed_setpoint = math::constrain(_rover_velocity_setpoint.speed, -_param_ro_speed_limit.get(),
+				     _param_ro_speed_limit.get());
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = _timestamp;
 	rover_throttle_setpoint.throttle_body_x = RoverControl::speedControl(_speed_setpoint, _pid_speed,

src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.hpp

@@ -48,7 +48,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/ackermann_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/rover_velocity_status.h>
 #include <uORB/topics/rover_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
@@ -112,7 +112,7 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _ackermann_velocity_setpoint_sub{ORB_ID(ackermann_velocity_setpoint)};
+	uORB::Subscription _rover_velocity_setpoint_sub{ORB_ID(rover_velocity_setpoint)};
 	vehicle_control_mode_s _vehicle_control_mode{};
 	offboard_control_mode_s _offboard_control_mode{};
 
@@ -120,8 +120,8 @@ private:
 	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
 	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
 	uORB::Publication<rover_velocity_status_s>   _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
-	uORB::Publication<ackermann_velocity_setpoint_s> _ackermann_velocity_setpoint_pub{ORB_ID(ackermann_velocity_setpoint)};
-	ackermann_velocity_setpoint_s _ackermann_velocity_setpoint{};
+	uORB::Publication<rover_velocity_setpoint_s> _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
+	rover_velocity_setpoint_s _rover_velocity_setpoint{};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp

@@ -37,7 +37,7 @@ using namespace time_literals;
 
 DifferentialPosControl::DifferentialPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_differential_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 	_rover_position_setpoint_pub.advertise();
 	_pure_pursuit_status_pub.advertise();
 
@@ -159,20 +159,20 @@ void DifferentialPosControl::manualPositionMode()
 	if (fabsf(speed_setpoint) < FLT_EPSILON) { // Turn on spot
 		_course_control = false;
 		const float bearing_setpoint = matrix::wrap_pi(_vehicle_yaw + bearing_delta);
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = 0.f;
-		differential_velocity_setpoint.bearing = bearing_setpoint;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else if (fabsf(bearing_delta) > FLT_EPSILON) { // Closed loop yaw rate control
 		_course_control = false;
 		const float bearing_setpoint = matrix::wrap_pi(_vehicle_yaw + bearing_delta);
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = speed_setpoint;
-		differential_velocity_setpoint.bearing = bearing_setpoint;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else { // Course control if the steering input is zero (keep driving on a straight line)
 		if (!_course_control) {
@@ -192,12 +192,12 @@ void DifferentialPosControl::manualPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _pos_ctl_start_position_ned,
 					       _curr_pos_ned, fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = speed_setpoint;
-		differential_velocity_setpoint.bearing = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
-					bearing_setpoint + M_PI_F);
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
+				bearing_setpoint + M_PI_F);
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 
@@ -232,11 +232,11 @@ void DifferentialPosControl::autoPositionMode()
 	}
 
 	if (auto_stop) {
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = 0.f;
-		differential_velocity_setpoint.bearing = _vehicle_yaw;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else {
 		const float speed_setpoint = calcSpeedSetpoint(_cruising_speed, distance_to_curr_wp, _param_ro_decel_limit.get(),
@@ -248,11 +248,11 @@ void DifferentialPosControl::autoPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _curr_wp_ned, _prev_wp_ned, _curr_pos_ned,
 					       fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = speed_setpoint;
-		differential_velocity_setpoint.bearing = bearing_setpoint;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 
 }
@@ -302,18 +302,18 @@ void DifferentialPosControl::goToPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _curr_pos_ned,
 					       _curr_pos_ned, fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = speed_setpoint;
-		differential_velocity_setpoint.bearing = bearing_setpoint;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else {
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = 0.f;
-		differential_velocity_setpoint.bearing = _vehicle_yaw;
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 

src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.hpp

@@ -47,7 +47,7 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/differential_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/pure_pursuit_status.h>
 #include <uORB/topics/rover_position_setpoint.h>
 #include <uORB/topics/rover_velocity_status.h>
@@ -152,7 +152,7 @@ private:
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
-	uORB::Subscription _differential_velocity_setpoint_sub{ORB_ID(differential_velocity_setpoint)};
+	uORB::Subscription _rover_velocity_setpoint_sub{ORB_ID(rover_velocity_setpoint)};
 	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
 	vehicle_control_mode_s _vehicle_control_mode{};
 	offboard_control_mode_s _offboard_control_mode{};
@@ -160,10 +160,10 @@ private:
 
 
 	// uORB publications
-	uORB::Publication<rover_velocity_status_s>          _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
-	uORB::Publication<differential_velocity_setpoint_s> _differential_velocity_setpoint_pub{ORB_ID(differential_velocity_setpoint)};
-	uORB::Publication<pure_pursuit_status_s>	    _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
-	uORB::Publication<rover_position_setpoint_s>	    _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<rover_velocity_status_s>   _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
+	uORB::Publication<rover_velocity_setpoint_s> _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
+	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
+	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.cpp

@@ -39,7 +39,7 @@ DifferentialVelControl::DifferentialVelControl(ModuleParams *parent) : ModulePar
 {
 	_rover_throttle_setpoint_pub.advertise();
 	_rover_attitude_setpoint_pub.advertise();
-	_differential_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 	_rover_velocity_status_pub.advertise();
 	updateParams();
 }
@@ -125,28 +125,28 @@ void DifferentialVelControl::generateVelocitySetpoint()
 	const Vector2f velocity_in_local_frame(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
 
 	if (offboard_vel_control && velocity_in_local_frame.isAllFinite()) {
-		differential_velocity_setpoint_s differential_velocity_setpoint{};
-		differential_velocity_setpoint.timestamp = _timestamp;
-		differential_velocity_setpoint.speed = velocity_in_local_frame.norm();
-		differential_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
-		_differential_velocity_setpoint_pub.publish(differential_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_in_local_frame.norm();
+		rover_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 
 void DifferentialVelControl::generateAttitudeAndThrottleSetpoint()
 {
-	if (_differential_velocity_setpoint_sub.updated()) {
-		_differential_velocity_setpoint_sub.copy(&_differential_velocity_setpoint);
+	if (_rover_velocity_setpoint_sub.updated()) {
+		_rover_velocity_setpoint_sub.copy(&_rover_velocity_setpoint);
 	}
 
 	// Attitude Setpoint
 	rover_attitude_setpoint_s rover_attitude_setpoint{};
 	rover_attitude_setpoint.timestamp = _timestamp;
-	rover_attitude_setpoint.yaw_setpoint = _differential_velocity_setpoint.bearing;
+	rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;
 	_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
 
 	// Throttle Setpoint
-	const float heading_error = matrix::wrap_pi(_differential_velocity_setpoint.bearing - _vehicle_yaw);
+	const float heading_error = matrix::wrap_pi(_rover_velocity_setpoint.bearing - _vehicle_yaw);
 
 	if (_current_state == DrivingState::DRIVING && fabsf(heading_error) > _param_rd_trans_drv_trn.get()) {
 		_current_state = DrivingState::SPOT_TURNING;
@@ -158,7 +158,7 @@ void DifferentialVelControl::generateAttitudeAndThrottleSetpoint()
 	float speed_setpoint = 0.f;
 
 	if (_current_state == DrivingState::DRIVING) {
-		speed_setpoint = math::constrain(_differential_velocity_setpoint.speed, -_param_ro_speed_limit.get(),
+		speed_setpoint = math::constrain(_rover_velocity_setpoint.speed, -_param_ro_speed_limit.get(),
 						 _param_ro_speed_limit.get());
 
 		const float speed_setpoint_normalized = math::interpolate<float>(speed_setpoint,

src/modules/rover_differential/DifferentialVelControl/DifferentialVelControl.hpp

@@ -50,7 +50,7 @@
 #include <uORB/topics/rover_steering_setpoint.h>
 #include <uORB/topics/rover_throttle_setpoint.h>
 #include <uORB/topics/rover_velocity_status.h>
-#include <uORB/topics/differential_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/rover_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>
@@ -121,7 +121,7 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _differential_velocity_setpoint_sub{ORB_ID(differential_velocity_setpoint)};
+	uORB::Subscription _rover_velocity_setpoint_sub{ORB_ID(rover_velocity_setpoint)};
 	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
 	vehicle_control_mode_s _vehicle_control_mode{};
 	offboard_control_mode_s _offboard_control_mode{};
@@ -131,8 +131,8 @@ private:
 	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
 	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
 	uORB::Publication<rover_velocity_status_s> _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
-	uORB::Publication<differential_velocity_setpoint_s> _differential_velocity_setpoint_pub{ORB_ID(differential_velocity_setpoint)};
-	differential_velocity_setpoint_s _differential_velocity_setpoint{};
+	uORB::Publication<rover_velocity_setpoint_s> _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
+	rover_velocity_setpoint_s _rover_velocity_setpoint{};
 
 	// Variables
 	hrt_abstime _timestamp{0};

src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp

@@ -37,7 +37,7 @@ using namespace time_literals;
 
 MecanumPosControl::MecanumPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_mecanum_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 	_rover_position_setpoint_pub.advertise();
 	_pure_pursuit_status_pub.advertise();
 
@@ -158,12 +158,12 @@ void MecanumPosControl::manualPositionMode()
 		_pos_ctl_yaw_setpoint = NAN;
 		const float yaw_setpoint = matrix::wrap_pi(_vehicle_yaw + yaw_delta);
 		const Vector3f velocity_setpoint_local = _vehicle_attitude_quaternion.rotateVector(velocity_setpoint_body);
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = velocity_setpoint_body.norm();
-		mecanum_velocity_setpoint.bearing = atan2f(velocity_setpoint_local(1), velocity_setpoint_local(0));
-		mecanum_velocity_setpoint.yaw = yaw_setpoint;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_setpoint_body.norm();
+		rover_velocity_setpoint.bearing = atan2f(velocity_setpoint_local(1), velocity_setpoint_local(0));
+		rover_velocity_setpoint.yaw = yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else { // Course control if the steering input is zero (keep driving on a straight line)
 		const Vector3f velocity = Vector3f(velocity_setpoint_body(0), velocity_setpoint_body(1), 0.f);
@@ -194,12 +194,12 @@ void MecanumPosControl::manualPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _pos_ctl_start_position_ned,
 					       _curr_pos_ned, velocity_magnitude_setpoint);
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = velocity_magnitude_setpoint;
-		mecanum_velocity_setpoint.bearing = bearing_setpoint;
-		mecanum_velocity_setpoint.yaw = _pos_ctl_yaw_setpoint;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_magnitude_setpoint;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		rover_velocity_setpoint.yaw = _pos_ctl_yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 
@@ -241,12 +241,12 @@ void MecanumPosControl::autoPositionMode()
 	}
 
 	if (auto_stop) {
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = 0.f;
-		mecanum_velocity_setpoint.bearing = 0.f;
-		mecanum_velocity_setpoint.yaw = _vehicle_yaw;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = 0.f;
+		rover_velocity_setpoint.yaw = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else { // Regular guidance algorithm
 		const float velocity_magnitude = calcVelocityMagnitude(_auto_speed, distance_to_curr_wp, _param_ro_decel_limit.get(),
@@ -258,12 +258,12 @@ void MecanumPosControl::autoPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _curr_wp_ned, _prev_wp_ned, _curr_pos_ned,
 					       velocity_magnitude);
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = velocity_magnitude;
-		mecanum_velocity_setpoint.bearing = bearing_setpoint;
-		mecanum_velocity_setpoint.yaw = _auto_yaw;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_magnitude;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		rover_velocity_setpoint.yaw = _auto_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 
@@ -313,20 +313,20 @@ void MecanumPosControl::goToPositionMode()
 					       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _curr_pos_ned,
 					       _curr_pos_ned, fabsf(speed_setpoint));
 		_pure_pursuit_status_pub.publish(pure_pursuit_status);
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = speed_setpoint;
-		mecanum_velocity_setpoint.bearing = bearing_setpoint;
-		mecanum_velocity_setpoint.yaw = _pos_ctl_yaw_setpoint;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = speed_setpoint;
+		rover_velocity_setpoint.bearing = bearing_setpoint;
+		rover_velocity_setpoint.yaw = _pos_ctl_yaw_setpoint;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	} else {
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = 0.f;
-		mecanum_velocity_setpoint.bearing = 0.f;
-		mecanum_velocity_setpoint.yaw = _vehicle_yaw;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = 0.f;
+		rover_velocity_setpoint.bearing = 0.f;
+		rover_velocity_setpoint.yaw = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 	}
 }
 

src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.hpp

@@ -49,7 +49,7 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/mecanum_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/rover_position_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -162,7 +162,7 @@ private:
 	rover_position_setpoint_s _rover_position_setpoint{};
 
 	// uORB publications
-	uORB::Publication<mecanum_velocity_setpoint_s> _mecanum_velocity_setpoint_pub{ORB_ID(mecanum_velocity_setpoint)};
+	uORB::Publication<rover_velocity_setpoint_s> _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
 	uORB::Publication<pure_pursuit_status_s>       _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
 	uORB::Publication<rover_position_setpoint_s>   _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
 

src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.cpp

@@ -39,7 +39,7 @@ MecanumVelControl::MecanumVelControl(ModuleParams *parent) : ModuleParams(parent
 {
 	_rover_throttle_setpoint_pub.advertise();
 	_rover_attitude_setpoint_pub.advertise();
-	_mecanum_velocity_setpoint_pub.advertise();
+	_rover_velocity_setpoint_pub.advertise();
 	_rover_velocity_status_pub.advertise();
 	updateParams();
 }
@@ -131,27 +131,27 @@ void MecanumVelControl::generateVelocitySetpoint()
 	const Vector2f velocity_in_local_frame(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
 
 	if (offboard_vel_control && velocity_in_local_frame.isAllFinite()) {
-		mecanum_velocity_setpoint_s mecanum_velocity_setpoint{};
-		mecanum_velocity_setpoint.timestamp = _timestamp;
-		mecanum_velocity_setpoint.speed = velocity_in_local_frame.norm();
-		mecanum_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
-		mecanum_velocity_setpoint.yaw = _vehicle_yaw;
-		_mecanum_velocity_setpoint_pub.publish(mecanum_velocity_setpoint);
+		rover_velocity_setpoint_s rover_velocity_setpoint{};
+		rover_velocity_setpoint.timestamp = _timestamp;
+		rover_velocity_setpoint.speed = velocity_in_local_frame.norm();
+		rover_velocity_setpoint.bearing = atan2f(velocity_in_local_frame(1), velocity_in_local_frame(0));
+		rover_velocity_setpoint.yaw = _vehicle_yaw;
+		_rover_velocity_setpoint_pub.publish(rover_velocity_setpoint);
 
 	}
 }
 
 void MecanumVelControl::generateAttitudeAndThrottleSetpoint()
 {
-	if (_mecanum_velocity_setpoint_sub.updated()) {
-		_mecanum_velocity_setpoint_sub.copy(&_mecanum_velocity_setpoint);
+	if (_rover_velocity_setpoint_sub.updated()) {
+		_rover_velocity_setpoint_sub.copy(&_rover_velocity_setpoint);
 	}
 
 	// Attitude Setpoint
-	if (PX4_ISFINITE(_mecanum_velocity_setpoint.yaw)) {
+	if (PX4_ISFINITE(_rover_velocity_setpoint.yaw)) {
 		rover_attitude_setpoint_s rover_attitude_setpoint{};
 		rover_attitude_setpoint.timestamp = _timestamp;
-		rover_attitude_setpoint.yaw_setpoint = _mecanum_velocity_setpoint.yaw;
+		rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.yaw;
 		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
 		_last_attitude_setpoint_update = _timestamp;
 
@@ -167,10 +167,10 @@ void MecanumVelControl::generateAttitudeAndThrottleSetpoint()
 	float speed_body_x_setpoint{0.f};
 	float speed_body_y_setpoint{0.f};
 
-	if (fabsf(_mecanum_velocity_setpoint.speed) > FLT_EPSILON) {
-		const Vector3f velocity_in_local_frame(_mecanum_velocity_setpoint.speed * cosf(
-				_mecanum_velocity_setpoint.bearing),
-						       _mecanum_velocity_setpoint.speed * sinf(_mecanum_velocity_setpoint.bearing), 0.f);
+	if (fabsf(_rover_velocity_setpoint.speed) > FLT_EPSILON) {
+		const Vector3f velocity_in_local_frame(_rover_velocity_setpoint.speed * cosf(
+				_rover_velocity_setpoint.bearing),
+						       _rover_velocity_setpoint.speed * sinf(_rover_velocity_setpoint.bearing), 0.f);
 		const Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
 		speed_body_x_setpoint = velocity_in_body_frame(0);
 		speed_body_y_setpoint = velocity_in_body_frame(1);

src/modules/rover_mecanum/MecanumVelControl/MecanumVelControl.hpp

@@ -50,7 +50,7 @@
 #include <uORB/topics/rover_steering_setpoint.h>
 #include <uORB/topics/rover_throttle_setpoint.h>
 #include <uORB/topics/rover_velocity_status.h>
-#include <uORB/topics/mecanum_velocity_setpoint.h>
+#include <uORB/topics/rover_velocity_setpoint.h>
 #include <uORB/topics/rover_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>
@@ -113,7 +113,7 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _mecanum_velocity_setpoint_sub{ORB_ID(mecanum_velocity_setpoint)};
+	uORB::Subscription _rover_velocity_setpoint_sub{ORB_ID(rover_velocity_setpoint)};
 	uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
 	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
 	vehicle_control_mode_s _vehicle_control_mode{};
@@ -124,8 +124,8 @@ private:
 	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
 	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
 	uORB::Publication<rover_velocity_status_s> _rover_velocity_status_pub{ORB_ID(rover_velocity_status)};
-	uORB::Publication<mecanum_velocity_setpoint_s> _mecanum_velocity_setpoint_pub{ORB_ID(mecanum_velocity_setpoint)};
-	mecanum_velocity_setpoint_s _mecanum_velocity_setpoint{};
+	uORB::Publication<rover_velocity_setpoint_s> _rover_velocity_setpoint_pub{ORB_ID(rover_velocity_setpoint)};
+	rover_velocity_setpoint_s _rover_velocity_setpoint{};
 
 	// Variables
 	hrt_abstime _timestamp{0};