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ackermann: restructure module

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chfriedrich98
2024-10-31 16:15:37 +01:00
committed by chfriedrich98
parent 79ec39e561
commit 6a7edac10d
16 changed files with 606 additions and 327 deletions
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msg/RoverAckermannStatus.msg
+5 -3
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@@ -1,7 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 throttle_setpoint # [-1, 1] Normalized throttle setpoint
float32 steering_setpoint # [-1, 1] Normalized steering setpoint
float32 actual_speed # [m/s] Rover ground speed
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 pid_throttle_integral # Integral of the PID for the closed loop speed controller
# TOPICS rover_ackermann_status