ackermann: new features and improvements

added return mode support, slew rates for actuators, new ackermann specific message, improved cornering slow down effect and fixed logging issue.
2026-10-29 07:23:34 +08:00 · 2024-07-10 12:06:48 +02:00
parent 223397c20e
commit 03ff837c50
11 changed files with 266 additions and 85 deletions
@@ -0,0 +1,7 @@
+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
+
+# TOPICS rover_ackermann_status