differential: update module (#23629)

Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.

msg/CMakeLists.txt

@@ -182,6 +182,7 @@ set(msg_files
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannStatus.msg
 	RoverDifferentialGuidanceStatus.msg
+	RoverDifferentialSetpoint.msg
 	RoverDifferentialStatus.msg
 	Rpm.msg
 	RtlStatus.msg

msg/RoverDifferentialGuidanceStatus.msg

@@ -1,10 +1,7 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 desired_speed 	      # [m/s] Desired forward speed for the rover
 float32 lookahead_distance    # [m] Lookahead distance of pure the pursuit controller
 float32 heading_error_deg 	      # [deg] Heading error of the pure pursuit controller
-float32 pid_heading_integral  # Integral of the PID for the desired yaw rate during missions
-float32 pid_throttle_integral # Integral of the PID for the throttle during missions
 uint8   state_machine         # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
 
 # TOPICS rover_differential_guidance_status

msg/RoverDifferentialSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint 		  # [m/s] Desired forward speed for the rover
+float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
+float32 yaw_rate_setpoint      		  # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
+float32 yaw_rate_setpoint_normalized      # [-1, 1] Normalized yaw rate for the rover
+float32 yaw_setpoint 	       		  # [rad] Desired yaw (heading) for the rover
+
+# TOPICS rover_differential_setpoint

msg/RoverDifferentialStatus.msg

@@ -1,8 +1,11 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32 actual_speed	       # [m/s] Actual forward speed of the rover
-float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate
+float32 actual_yaw_deg         # [deg] Actual yaw of the rover
 float32 actual_yaw_rate_deg_s  # [deg/s] Actual yaw rate of the rover
-float32 pid_yaw_rate_integral  # Integral of the PID for the desired yaw rate controller
+float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate controller
+float32 pid_yaw_integral       # Integral of the PID for the closed loop yaw controller
+float32 pid_yaw_rate_integral  # Integral of the PID for the closed loop yaw rate controller
+float32 pid_throttle_integral  # Integral of the PID for the closed loop speed controller
 
 # TOPICS rover_differential_status