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mecanum: refactor code architecture

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chfriedrich98
2025-02-17 11:56:05 +01:00
committed by chfriedrich98
parent d602b569b1
commit 7c63468e8b
24 changed files with 1634 additions and 1400 deletions
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msg/CMakeLists.txt
+1 -4
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@@ -173,14 +173,11 @@ set(msg_files
RcParameterMap.msg
RoverAttitudeSetpoint.msg
RoverAttitudeStatus.msg
RoverVelocityStatus.msg
RoverRateSetpoint.msg
RoverRateStatus.msg
RoverSteeringSetpoint.msg
RoverThrottleSetpoint.msg
RoverMecanumGuidanceStatus.msg
RoverMecanumSetpoint.msg
RoverMecanumStatus.msg
RoverVelocityStatus.msg
Rpm.msg
RtlStatus.msg
RtlTimeEstimate.msg
msg/RoverMecanumGuidanceStatus.msg
-7
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@@ -1,7 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error # [rad] Heading error of the pure pursuit controller
float32 desired_speed # [m/s] Desired velocity magnitude (speed)
# TOPICS rover_mecanum_guidance_status
msg/RoverMecanumSetpoint.msg
-11
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@@ -1,11 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
float32 lateral_speed_setpoint # [m/s] Desired lateral speed
float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
float32 yaw_rate_setpoint # [rad/s] Desired yaw rate
float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
float32 yaw_setpoint # [rad] Desired yaw (heading)
# TOPICS rover_mecanum_setpoint
msg/RoverMecanumStatus.msg
-17
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@@ -1,17 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
float32 measured_yaw # [rad] Measured yaw
float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
# TOPICS rover_mecanum_status