Update message definitions Thu Oct 31 16:03:58 UTC 2024

msg/RoverAckermannGuidanceStatus.msg

@@ -1,8 +1,6 @@
 uint64 timestamp # time since system start (microseconds)
 
-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
 
 # TOPICS rover_ackermann_guidance_status

msg/RoverAckermannSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+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

msg/RoverAckermannStatus.msg

@@ -1,7 +1,11 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 throttle_setpoint 	# [-1, 1] Normalized throttle setpoint
-float32 steering_setpoint 	# [-1, 1] Normalized steering setpoint
-float32 actual_speed       	# [m/s] Rover ground speed
+float32 measured_forward_speed       	      # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
+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