differential: restructure and update module (#23430)

* differential: rename module

* differential: restructure and update module

msg/CMakeLists.txt

@@ -71,7 +71,6 @@ set(msg_files
 	DebugKeyValue.msg
 	DebugValue.msg
 	DebugVect.msg
-	DifferentialDriveSetpoint.msg
 	DifferentialPressure.msg
 	DistanceSensor.msg
 	Ekf2Timestamps.msg
@@ -181,6 +180,8 @@ set(msg_files
 	RegisterExtComponentRequest.msg
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannStatus.msg
+	RoverDifferentialGuidanceStatus.msg
+	RoverDifferentialStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg

msg/DifferentialDriveSetpoint.msg

@@ -1,8 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 speed # [m/s] collective roll-off speed in body x-axis
-bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
-float32 yaw_rate # [rad/s] yaw rate
-bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
-
-# TOPICS differential_drive_setpoint differential_drive_control_output

msg/RoverDifferentialGuidanceStatus.msg

@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 desired_speed 	      # [m/s] Desired forward speed for the rover
+float32 lookahead_distance    # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error_deg 	      # [deg] Heading error of the pure pursuit controller
+float32 pid_heading_integral  # Integral of the PID for the desired yaw rate during missions
+float32 pid_throttle_integral # Integral of the PID for the throttle during missions
+uint8   state_machine         # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
+
+# TOPICS rover_differential_guidance_status

msg/RoverDifferentialStatus.msg

@@ -0,0 +1,8 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 actual_speed	       # [m/s] Actual forward speed of the rover
+float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate
+float32 actual_yaw_rate_deg_s  # [deg/s] Actual yaw rate of the rover
+float32 pid_yaw_rate_integral  # Integral of the PID for the desired yaw rate controller
+
+# TOPICS rover_differential_status