Rover Ackermann module (#23024)

New module handling Ackermann rover guidance and control.
Only enabled in SITL and in the rover builds for now.

msg/CMakeLists.txt

@@ -178,6 +178,7 @@ set(msg_files
 	RcParameterMap.msg
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
+	RoverAckermannGuidanceStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg

msg/RoverAckermannGuidanceStatus.msg

@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 actual_speed # [m/s] Rover ground speed
+float32 desired_speed # [m/s] Rover desired ground speed
+float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error # [deg] Heading error of the pure pursuit controller
+float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
+float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
+
+# TOPICS rover_ackermann_guidance_status