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ackermann: seperate velocity control

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chfriedrich98
2025-04-08 12:27:11 +02:00
committed by chfriedrich98
parent 8eb873a245
commit 9fe98b0724
20 changed files with 555 additions and 235 deletions
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msg/RoverSteeringSetpoint.msg
+2 -3
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@@ -1,6 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Only for Ackermann-steered rovers)
float32 normalized_speed_diff # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Only for Differential/Mecanum rovers)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
# TOPICS rover_steering_setpoint
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)