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ackermann: update position control

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chfriedrich98
2025-05-26 15:56:24 +02:00
committed by chfriedrich98
parent 45540455fe
commit cd486b2da6
3 changed files with 149 additions and 163 deletions
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msg/RoverPositionSetpoint.msg
+4 -2
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@@ -1,6 +1,8 @@
uint64 timestamp # time since system start (microseconds)
float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
float32 cruising_speed # (Optional) Specify rover speed (Defaults to maximum speed)
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.
float32 yaw # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)