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pure_pursuit: update library

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chfriedrich98
2025-02-25 14:51:26 +01:00
committed by chfriedrich98
parent fec240efba
commit d1b0be18b2
16 changed files with 277 additions and 189 deletions
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1
msg/CMakeLists.txt
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@@ -163,6 +163,7 @@ set(msg_files
PowerButtonState.msg
PowerMonitor.msg
PpsCapture.msg
PurePursuitStatus.msg
PwmInput.msg
Px4ioStatus.msg
QshellReq.msg

9
msg/PurePursuitStatus.msg Normal file
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@@ -0,0 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 target_bearing # [rad] Target bearing calculated by the pure pursuit controller
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)
float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
float32 bearing_to_waypoint # [rad] Bearing towards current waypoint
# TOPICS pure_pursuit_status