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41 lines
3.0 KiB
Markdown
41 lines
3.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RoverPositionSetpoint (UORB message)
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Rover Position Setpoint.
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**TOPICS:** rover_position_setpoint
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ----------------------------------- | ------------ | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| position_ned | `float32[2]` | m [NED] | [-inf : inf] | Target position |
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| start_ned | `float32[2]` | m [NED] | [-inf : inf] | Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position) |
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| cruising_speed | `float32` | m/s | [0 : inf] | Cruising speed (Invalid: NaN Defaults to maximum speed) |
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| arrival_speed | `float32` | m/s | [0 : inf] | Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0) |
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| yaw | `float32` | rad [NED] | [-pi : pi] | Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg)
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:::details
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Click here to see original file
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```c
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# Rover Position Setpoint
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uint64 timestamp # [us] Time since system start
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float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
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float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
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float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
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float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
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float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
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```
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:::
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