SurfaceVehicleCourseSetpoint (UORB message)

Surface Vehicle Course Setpoint.

Course setpoint for surface vehicles, on land or on water (rovers, boats). Consumed by the position controllers of these vehicles (currently AckermannPosControl, DifferentialPosControl and MecanumPosControl), which turn it into speed and attitude setpoints. Published by the Guided Course mode of rover_ackermann, rover_differential and rover_mecanum, and can be sent from ROS 2 over uXRCE-DDS (/fmu/in/surface_vehicle_course_setpoint). The vehicle tries to track the course over ground, as with the fixed-wing course hold: vehicles that steer by heading correct their heading by the estimated drift angle, mecanum rovers drive along the course setpoint directly. There is no desired track, so a sideways offset is not corrected. To follow a desired track, publish rover_position_setpoint instead. The position controller follows whichever of the two was published most recently.

TOPICS: surface_vehicle_course_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
course	float32	rad [NED]	[-pi : pi]	Course over ground to hold (Invalid: NaN No course; the position controller stays idle)
speed	float32	m/s	[-inf : inf]	Cruising speed; a negative value drives the vehicle in reverse (rear first) along the course (Invalid: NaN Defaults to maximum speed)
yaw	float32	rad [NED]	[-pi : pi]	Currently unused. Only for vehicles that can move sideways (e.g. mecanum rovers): vehicle yaw while holding the course. (Invalid: NaN Not considered)

Source Message

Source file (GitHub)

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# Surface Vehicle Course Setpoint
#
# Course setpoint for surface vehicles, on land or on water (rovers, boats).
# Consumed by the position controllers of these vehicles (currently AckermannPosControl,
# DifferentialPosControl and MecanumPosControl), which turn it into speed and attitude
# setpoints.
# Published by the Guided Course mode of rover_ackermann, rover_differential and rover_mecanum,
# and can be sent from ROS 2 over uXRCE-DDS (/fmu/in/surface_vehicle_course_setpoint).
# The vehicle tries to track the course over ground, as with the fixed-wing course hold: vehicles
# that steer by heading correct their heading by the estimated drift angle, mecanum rovers drive
# along the course setpoint directly. There is no desired track, so a sideways offset is not
# corrected. To follow a desired track, publish rover_position_setpoint instead.
# The position controller follows whichever of the two was published most recently.

uint64 timestamp # [us] Time since system start
float32 course # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN No course; the position controller stays idle] Course over ground to hold
float32 speed # [m/s] [@range -inf, inf] [@invalid NaN Defaults to maximum speed] Cruising speed; a negative value drives the vehicle in reverse (rear first) along the course
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN Not considered] Currently unused. Only for vehicles that can move sideways (e.g. mecanum rovers): vehicle yaw while holding the course.