diff --git a/msg/RoverAttitudeSetpoint.msg b/msg/RoverAttitudeSetpoint.msg index 05b5d15086..2b8315016c 100644 --- a/msg/RoverAttitudeSetpoint.msg +++ b/msg/RoverAttitudeSetpoint.msg @@ -1,4 +1,4 @@ # Rover Attitude Setpoint -uint64 timestamp # [us] Time since system start -float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint +uint64 timestamp # [us] Time since system start +float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint diff --git a/msg/RoverAttitudeStatus.msg b/msg/RoverAttitudeStatus.msg index 6b8afc192a..9d4bd2a949 100644 --- a/msg/RoverAttitudeStatus.msg +++ b/msg/RoverAttitudeStatus.msg @@ -1,5 +1,5 @@ # Rover Attitude Status -uint64 timestamp # [us] Time since system start -float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw -float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates) +uint64 timestamp # [us] Time since system start +float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw +float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates) diff --git a/msg/RoverPositionSetpoint.msg b/msg/RoverPositionSetpoint.msg index bc711d2d29..e55dcd4737 100644 --- a/msg/RoverPositionSetpoint.msg +++ b/msg/RoverPositionSetpoint.msg @@ -1,8 +1,8 @@ # Rover Position Setpoint -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 +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 diff --git a/msg/RoverRateSetpoint.msg b/msg/RoverRateSetpoint.msg index 1a3c3b89f1..06752f285d 100644 --- a/msg/RoverRateSetpoint.msg +++ b/msg/RoverRateSetpoint.msg @@ -1,4 +1,4 @@ # Rover Rate setpoint -uint64 timestamp # [us] Time since system start -float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint +uint64 timestamp # [us] Time since system start +float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint diff --git a/msg/RoverRateStatus.msg b/msg/RoverRateStatus.msg index fd6c0b7f3c..cde9200ea7 100644 --- a/msg/RoverRateStatus.msg +++ b/msg/RoverRateStatus.msg @@ -1,6 +1,6 @@ # Rover Rate Status -uint64 timestamp # [us] Time since system start -float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate -float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates) -float32 pid_yaw_rate_integral # [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller +uint64 timestamp # [us] Time since system start +float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate +float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates) +float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller diff --git a/msg/RoverSpeedSetpoint.msg b/msg/RoverSpeedSetpoint.msg index ac7787f6c9..9933c1157d 100644 --- a/msg/RoverSpeedSetpoint.msg +++ b/msg/RoverSpeedSetpoint.msg @@ -1,5 +1,5 @@ # Rover Speed Setpoint -uint64 timestamp # [us] Time since system start -float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction -float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction +uint64 timestamp # [us] Time since system start +float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction +float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction diff --git a/msg/RoverSpeedStatus.msg b/msg/RoverSpeedStatus.msg index 71cacd0e77..a005bb64c8 100644 --- a/msg/RoverSpeedStatus.msg +++ b/msg/RoverSpeedStatus.msg @@ -1,9 +1,9 @@ # Rover Velocity Status -uint64 timestamp # [us] Time since system start -float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction -float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction -float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction -float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction +uint64 timestamp # [us] Time since system start +float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction +float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) +float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction +float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction +float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) +float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction diff --git a/msg/RoverSteeringSetpoint.msg b/msg/RoverSteeringSetpoint.msg index f2daa967f9..eb6c2787f6 100644 --- a/msg/RoverSteeringSetpoint.msg +++ b/msg/RoverSteeringSetpoint.msg @@ -1,4 +1,4 @@ # Rover Steering setpoint -uint64 timestamp # [us] Time since system start -float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels +uint64 timestamp # [us] Time since system start +float32 normalized_steering_setpoint # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels diff --git a/msg/RoverThrottleSetpoint.msg b/msg/RoverThrottleSetpoint.msg index 333ebee5c3..104e228d15 100644 --- a/msg/RoverThrottleSetpoint.msg +++ b/msg/RoverThrottleSetpoint.msg @@ -1,5 +1,5 @@ # Rover Throttle setpoint -uint64 timestamp # [us] Time since system start -float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis -float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis +uint64 timestamp # [us] Time since system start +float32 throttle_body_x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis +float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis