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rover: handle invalid bearing setpoint

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chfriedrich98
2025-05-13 10:23:35 +02:00
committed by chfriedrich98
parent 1857920a5f
commit ce9dd237a9
4 changed files with 12 additions and 7 deletions
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msg/RoverVelocitySetpoint.msg
+1 -1
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@@ -1,5 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32 speed # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
float32 bearing # [rad] [-pi,pi] from North.
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