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differential: seperate velocity control

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chfriedrich98
2025-03-25 16:29:00 +01:00
committed by chfriedrich98
parent b5f011a31f
commit 0ab9071606
13 changed files with 875 additions and 476 deletions
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1
msg/CMakeLists.txt
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@@ -64,6 +64,7 @@ set(msg_files
DebugValue.msg
DebugVect.msg
DifferentialPressure.msg
DifferentialVelocitySetpoint.msg
DistanceSensor.msg
DistanceSensorModeChangeRequest.msg
Ekf2Timestamps.msg

5
msg/DifferentialVelocitySetpoint.msg Normal file
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32[2] velocity_ned # 2-dimensional velocity setpoint in NED frame
bool backwards # Flag for backwards driving
float32 yaw # [rad] [-pi,pi] from North. Optional, NAN if not set. (Exclusive with velocity_ned, the rover will turn on the spot to reach the yaw setpoint)