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10 lines
618 B
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10 lines
618 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 target_bearing # [rad] Target bearing calculated by the pure pursuit controller
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float32 crosstrack_error # [m] Shortest distance from the vehicle to the path (Positiv: Vehicle is on the right hand side with respect to the oriented path vector, Negativ: Left of the path)
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float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
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float32 bearing_to_waypoint # [rad] Bearing towards current waypoint
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# TOPICS pure_pursuit_status
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