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Mecanum rover: add dedicated module for mecanum rovers (#23708)

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chfriedrich98
2024-09-25 09:35:41 +02:00
committed by GitHub
parent 43509b5cff
commit 0e65679c9e
33 changed files with 1677 additions and 5 deletions
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msg/RoverMecanumStatus.msg
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uint64 timestamp # time since system start (microseconds)
float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 measured_yaw # [rad] Measured yaw
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