Rover Ackermann module (#23024)

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

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "RoverAckermann.hpp"
+
+using namespace time_literals;
+using namespace matrix;
+
+RoverAckermann::RoverAckermann() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
+{
+	updateParams();
+}
+
+bool RoverAckermann::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+	return true;
+}
+
+void RoverAckermann::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void RoverAckermann::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+	}
+
+	// uORB subscriber updates
+	if (_parameter_update_sub.updated()) {
+		updateParams();
+	}
+
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status;
+		_vehicle_status_sub.copy(&vehicle_status);
+		_nav_state = vehicle_status.nav_state;
+	}
+
+	// Navigation modes
+	switch (_nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL: {
+			manual_control_setpoint_s manual_control_setpoint{};
+
+			if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+				_motor_setpoint.steering = manual_control_setpoint.roll;
+				_motor_setpoint.throttle =  manual_control_setpoint.throttle;
+			}
+
+		} break;
+
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+		_motor_setpoint = _ackermann_guidance.purePursuit();
+		break;
+
+	default: // Unimplemented nav states will stop the rover
+		_motor_setpoint.steering = 0.f;
+		_motor_setpoint.throttle =  0.f;
+		break;
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+
+	// Publish to wheel motors
+	actuator_motors_s actuator_motors{};
+	actuator_motors.reversible_flags = _param_r_rev.get();
+	actuator_motors.control[0] = _motor_setpoint.throttle;
+	actuator_motors.timestamp = now;
+	_actuator_motors_pub.publish(actuator_motors);
+
+	// Publish to servo
+	actuator_servos_s actuator_servos{};
+	actuator_servos.control[0] = _motor_setpoint.steering;
+	actuator_servos.timestamp = now;
+	_actuator_servos_pub.publish(actuator_servos);
+}
+
+int RoverAckermann::task_spawn(int argc, char *argv[])
+{
+	RoverAckermann *instance = new RoverAckermann();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int RoverAckermann::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int RoverAckermann::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Rover state machine.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int rover_ackermann_main(int argc, char *argv[])
+{
+	return RoverAckermann::main(argc, argv);
+}