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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/RoverVelocityStatus.msg
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@@ -8,5 +8,3 @@ float32 speed_body_y_setpoint # [m/s] Speed setpoint in body y directio
float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
float32 pid_throttle_body_x_integral # Integral of the PID for the closed loop controller of the speed in body x direction
float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction
# TOPICS rover_velocity_status