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rover: streamline rover steering setpoint

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chfriedrich98
2025-06-18 08:35:48 +02:00
committed by chfriedrich98
parent 4a5c00d0e4
commit 5a430f0ba6
12 changed files with 13 additions and 15 deletions
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msg/RoverSteeringSetpoint.msg
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@@ -1,5 +1,3 @@
uint64 timestamp # time since system start (microseconds)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
float32 normalized_speed_diff # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)
float32 normalized_steering_setpoint # [-1, 1] Positiv = Turn right, Negativ: Turn left (Ackermann: Steering angle, Differential/Mecanum: Speed difference between the left and right wheels)