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5c64a3ed93
New module handling Ackermann rover guidance and control. Only enabled in SITL and in the rover builds for now.
11 lines
573 B
Plaintext
11 lines
573 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 actual_speed # [m/s] Rover ground speed
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float32 desired_speed # [m/s] Rover desired ground speed
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error # [deg] Heading error of the pure pursuit controller
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float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
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float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
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# TOPICS rover_ackermann_guidance_status
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