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ackermann: restructure module

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chfriedrich98
2024-08-30 11:04:17 +02:00
committed by chfriedrich98
parent 79ec39e561
commit 6a7edac10d
16 changed files with 606 additions and 327 deletions
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msg/CMakeLists.txt
+1
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@@ -185,6 +185,7 @@ set(msg_files
RegisterExtComponentReply.msg
RegisterExtComponentRequest.msg
RoverAckermannGuidanceStatus.msg
RoverAckermannSetpoint.msg
RoverAckermannStatus.msg
RoverDifferentialGuidanceStatus.msg
RoverDifferentialSetpoint.msg
msg/RoverAckermannGuidanceStatus.msg
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@@ -1,8 +1,6 @@
uint64 timestamp # time since system start (microseconds)
float32 desired_speed # [m/s] Rover desired ground speed
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error # [deg] Heading error of the pure pursuit controller
float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
# TOPICS rover_ackermann_guidance_status
msg/RoverAckermannSetpoint.msg
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@@ -0,0 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed for the rover
float32 steering_setpoint # [rad/s] Desired steering for the rover
float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering for the rover
# TOPICS rover_ackermann_setpoint
msg/RoverAckermannStatus.msg
+5 -3
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@@ -1,7 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 throttle_setpoint # [-1, 1] Normalized throttle setpoint
float32 steering_setpoint # [-1, 1] Normalized steering setpoint
float32 actual_speed # [m/s] Rover ground speed
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 steering_setpoint_normalized # [-1, 1] Normalized steering setpoint
float32 adjusted_steering_setpoint_normalized # [-1, 1] Normalized steering setpoint after applying slew rate
float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
# TOPICS rover_ackermann_status