ackermann: refactor code architecture

msg/CMakeLists.txt

@@ -171,9 +171,13 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAckermannGuidanceStatus.msg
-	RoverAckermannSetpoint.msg
-	RoverAckermannStatus.msg
+	RoverAttitudeSetpoint.msg
+	RoverAttitudeStatus.msg
+	RoverVelocityStatus.msg
+	RoverRateSetpoint.msg
+	RoverRateStatus.msg
+	RoverSteeringSetpoint.msg
+	RoverThrottleSetpoint.msg
 	RoverDifferentialGuidanceStatus.msg
 	RoverDifferentialSetpoint.msg
 	RoverDifferentialStatus.msg

msg/RoverAckermannGuidanceStatus.msg

@@ -1,6 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 lookahead_distance 	# [m] Lookahead distance of pure the pursuit controller
-float32 heading_error 		# [deg] Heading error of the pure pursuit controller
-
-# TOPICS rover_ackermann_guidance_status

msg/RoverAckermannSetpoint.msg

@@ -1,9 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 forward_speed_setpoint 		  # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 steering_setpoint      		  # [rad] Desired steering angle
-float32 steering_setpoint_normalized      # [-1, 1] Desired normalized steering angle
-float32 lateral_acceleration_setpoint     # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
-
-# TOPICS rover_ackermann_setpoint

msg/RoverAckermannStatus.msg

@@ -1,11 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-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 measured_lateral_acceleration         # [m/s^2] Measured acceleration in body y direction. Positiv: right, Negativ: left.
-float32 pid_throttle_integral                 # Integral of the PID for the closed loop speed controller
-float32 pid_lat_accel_integral                # Integral of the PID for the closed loop lateral acceleration controller
-
-# TOPICS rover_ackermann_status

msg/RoverAttitudeSetpoint.msg

@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 yaw_setpoint # [rad] Expressed in NED frame
+
+# TOPICS rover_attitude_setpoint

msg/RoverAttitudeStatus.msg

@@ -0,0 +1,6 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_yaw          # [rad/s] Measured yaw rate
+float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
+
+# TOPICS rover_attitude_status

msg/RoverRateSetpoint.msg

@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
+
+# TOPICS rover_rate_setpoint

msg/RoverRateStatus.msg

@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_yaw_rate          # [rad/s] Measured yaw rate
+float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint that is being tracked (Applied slew rates)
+float32 pid_yaw_rate_integral      # Integral of the PID for the closed loop yaw rate controller
+
+# TOPICS rover_rate_status

msg/RoverSteeringSetpoint.msg

@@ -0,0 +1,6 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Only for Ackermann-steered rovers)
+float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Only for Differential/Mecanum rovers)
+
+# TOPICS rover_steering_setpoint

msg/RoverThrottleSetpoint.msg

@@ -0,0 +1,7 @@
+
+uint64 timestamp        # time since system start (microseconds)
+
+float32 throttle_body_x # throttle setpoint along body X axis [-1, 1]
+float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1]
+
+# TOPICS rover_throttle_setpoint

msg/RoverVelocityStatus.msg

@@ -0,0 +1,12 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_speed_body_x          # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 speed_body_x_setpoint          # [m/s] Speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
+float32 adjusted_speed_body_x_setpoint # [m/s] Post slew rate speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
+float32 measured_speed_body_y          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 speed_body_y_setpoint          # [m/s] Speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
+float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
+float32 pid_throttle_body_x_integral   # Integral of the PID for the closed loop controller of the speed in body x direction
+float32 pid_throttle_body_y_integral   # Integral of the PID for the closed loop controller of the speed in body y direction
+
+# TOPICS rover_velocity_status