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f8188f0981
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.
10 lines
560 B
Plaintext
10 lines
560 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
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float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
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float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
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float32 yaw_rate_setpoint_normalized # [-1, 1] Normalized yaw rate for the rover
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float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
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# TOPICS rover_differential_setpoint
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