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ackermann: implement pure pursuit lib

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chfriedrich98
2024-07-18 13:34:56 +02:00
committed by Mathieu Bresciani
parent f2bca92221
commit f8bebd9e41
4 changed files with 14 additions and 91 deletions
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msg/RoverAckermannGuidanceStatus.msg
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@@ -4,6 +4,5 @@ float32 desired_speed # [m/s] Rover desired ground speed
float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
float32 heading_error # [deg] Heading error of the pure pursuit controller
float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
# TOPICS rover_ackermann_guidance_status