rover: Update rover setpoints to new uORB message standard

msg/PurePursuitStatus.msg

@@ -1,7 +1,8 @@
-uint64 timestamp # time since system start (microseconds)
+# Pure pursuit status
 
-float32 lookahead_distance   # [m] Lookahead distance of pure the pursuit controller
-float32 target_bearing       # [rad] Target bearing calculated by the pure pursuit controller
-float32 crosstrack_error     # [m] Shortest distance from the vehicle to the path (Positiv: Vehicle is on the right hand side with respect to the oriented path vector, Negativ: Left of the path)
-float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
-float32 bearing_to_waypoint  # [rad] Bearing towards current waypoint
+uint64 timestamp # [us] Time since system start
+float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
+float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
+float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
+float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
+float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint

msg/RoverAttitudeSetpoint.msg

@@ -1,3 +1,4 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Attitude Setpoint
 
-float32 yaw_setpoint # [rad] Expressed in NED frame
+uint64 timestamp # [us] Time since system start
+float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint

msg/RoverAttitudeStatus.msg

@@ -1,4 +1,5 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Attitude Status
 
-float32 measured_yaw          # [rad/s] Measured yaw rate
-float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
+uint64 timestamp # [us] Time since system start
+float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
+float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)

msg/RoverPositionSetpoint.msg

@@ -1,8 +1,8 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Position Setpoint
 
-float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
-float32[2] start_ned	# (Optional) 2-dimensional start position in NED frame used to define the line that the rover will track to position_ned [m] (Defaults to vehicle position)
-float32 cruising_speed  # (Optional) Specify rover speed [m/s] (Defaults to maximum speed)
-float32 arrival_speed   # (Optional) Specify arrival speed [m/s] (Defaults to zero)
-
-float32 yaw             # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)
+uint64 timestamp # [us] Time since system start
+float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
+float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
+float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
+float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
+float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel

msg/RoverRateSetpoint.msg

@@ -1,3 +1,4 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Rate setpoint
 
-float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
+uint64 timestamp # [us] Time since system start
+float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint

msg/RoverRateStatus.msg

@@ -1,5 +1,6 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Rate Status
 
-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
+uint64 timestamp # [us] Time since system start
+float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
+float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
+float32 pid_yaw_rate_integral #  [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller

msg/RoverSteeringSetpoint.msg

@@ -1,3 +1,4 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Steering setpoint
 
-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)
+uint64 timestamp # [us] Time since system start
+float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels

msg/RoverThrottleSetpoint.msg

@@ -1,5 +1,5 @@
+# Rover Throttle setpoint
 
-uint64 timestamp        # time since system start (microseconds)
-
-float32 throttle_body_x # throttle setpoint along body X axis [-1, 1] (Positiv = forwards, Negativ = backwards)
-float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1] (Mecanum only, Positiv = right, Negativ = left)
+uint64 timestamp # [us] Time since system start
+float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
+float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis

msg/RoverVelocitySetpoint.msg

@@ -1,5 +1,6 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Velocity Setpoint
 
-float32 speed   # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
-float32 bearing # [rad] [-pi,pi] from North. [invalid: NAN, speed is defined in body x direction]
-float32 yaw 	# [rad] [-pi, pi] (Mecanum only, Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame
+uint64 timestamp # [us] Time since system start
+float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
+float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
+float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint

msg/RoverVelocityStatus.msg

@@ -1,8 +1,9 @@
-uint64 timestamp # time since system start (microseconds)
+# Rover Velocity Status
 
-float32 measured_speed_body_x          # [m/s] Measured speed 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 pid_throttle_body_x_integral   # Integral of the PID for the closed loop controller of the speed in body x direction
-float32 measured_speed_body_y          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left (Mecanum only)
-float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Mecanum only)
-float32 pid_throttle_body_y_integral   # Integral of the PID for the closed loop controller of the speed in body y direction (Mecanum only)
+uint64 timestamp # [us] Time since system start
+float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
+float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
+float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
+float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction