RoverPositionSetpoint (UORB message)

Rover Position Setpoint.

TOPICS: rover_positionsetpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
position_ned	float32[2]	m [NED]	[-inf : inf]	Target position
start_ned	float32[2]	m [NED]	[-inf : inf]	Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position)
cruising_speed	float32	m/s	[0 : inf]	Cruising speed (Invalid: NaN Defaults to maximum speed)
arrival_speed	float32	m/s	[0 : inf]	Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0)
yaw	float32	rad [NED]	[-pi : pi]	Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw)

Source Message

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# Rover Position Setpoint

uint64 timestamp         # [us] Time since system start
float32[2] position_ned  # [m] [@range -inf, inf] [@frame NED] Target position
float32[2] start_ned     # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
float32 cruising_speed   # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
float32 arrival_speed    # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
float32 yaw              # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel