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ackermann: add lateral acceleration setpoint, acro/position mode and updates to auto modes

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chfriedrich98
2024-10-01 10:08:09 +02:00
committed by chfriedrich98
parent 6a7edac10d
commit e8f8bc9af7
10 changed files with 258 additions and 82 deletions
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9
msg/RoverAckermannSetpoint.msg
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@@ -1,8 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed for the rover
float32 steering_setpoint # [rad/s] Desired steering for the rover
float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering for the rover
float32 forward_speed_setpoint # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
float32 steering_setpoint # [rad] Desired steering angle
float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering angle
float32 lateral_acceleration_setpoint # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
# TOPICS rover_ackermann_setpoint

2
msg/RoverAckermannStatus.msg
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@@ -4,6 +4,8 @@ float32 measured_forward_speed # [m/s] Measured speed in body x dir
float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
float32 steering_setpoint_normalized # [-1, 1] Normalized steering setpoint
float32 adjusted_steering_setpoint_normalized # [-1, 1] Normalized steering setpoint after applying slew rate
float32 measured_lateral_acceleration # [m/s^2] Measured acceleration in body y direction. Positiv: right, Negativ: left.
float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
float32 pid_lat_accel_integral # Integral of the PID for the closed loop lateral acceleration controller
# TOPICS rover_ackermann_status