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rover: Update rover setpoints to new uORB message standard

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chfriedrich98
2025-05-07 11:06:25 +02:00
committed by chfriedrich98
parent 98e0fefd4f
commit 60010ba057
10 changed files with 49 additions and 41 deletions
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msg/RoverPositionSetpoint.msg
+7 -7
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@@ -1,8 +1,8 @@
uint64 timestamp # time since system start (microseconds)
# Rover Position Setpoint
float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
float32[2] start_ned # (Optional) 2-dimensional start position in NED frame used to define the line that the rover will track to position_ned [m] (Defaults to vehicle position)
float32 cruising_speed # (Optional) Specify rover speed [m/s] (Defaults to maximum speed)
float32 arrival_speed # (Optional) Specify arrival speed [m/s] (Defaults to zero)
float32 yaw # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)
uint64 timestamp # [us] Time since system start
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel