PurePursuitStatus (UORB message)

Pure pursuit status.

TOPICS: pure_pursuitstatus

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
lookahead_distance	float32	m	[0 : inf]	Lookahead distance of pure the pursuit controller
target_bearing	float32	rad [NED]	[-pi : pi]	Target bearing calculated by the pure pursuit controller
crosstrack_error	float32	m	[-inf (Left of the path) : inf (Right of the path)]	Shortest distance from the vehicle to the path
distance_to_waypoint	float32	m	[-inf : inf]	Distance from the vehicle to the current waypoint
bearing_to_waypoint	float32	rad [NED]	[-pi : pi]	Bearing towards current waypoint

Source Message

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# Pure pursuit status

uint64 timestamp              # [us] Time since system start
float32 lookahead_distance    # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
float32 target_bearing        # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
float32 crosstrack_error      # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
float32 distance_to_waypoint  # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
float32 bearing_to_waypoint   # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint