SurfaceVehiclePositionSetpoint (UORB message)

Surface Vehicle Position Setpoint.

Position setpoint consumed by the rover position controllers (AckermannPosControl, DifferentialPosControl, MecanumPosControl), which turn it into surface_vehicle_speed_setpoint and surface_vehicle_attitude_setpoint. Published by the manual (position), auto and offboard drive modes of rover_ackermann, rover_differential and rover_mecanum, and can be sent from ROS 2 over uXRCE-DDS (/fmu/in/surface_vehicle_position_setpoint). The rover follows the desired track from start_ned to target_ned. To control the course over ground instead, publish surface_vehicle_course_setpoint; the position controller follows whichever of the two was published most recently.

TOPICS: surface_vehicle_position_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
target_ned	float32[2]	m [NED]	[-inf : inf]	Target position (Invalid: NaN No target; the position controller stays idle)
start_ned	float32[2]	m [NED]	[-inf : inf]	Start position of the desired track towards target_ned (Invalid: NaN Defaults to the vehicle position when the setpoint is received)
cruising_speed	float32	m/s	[-inf : inf]	Cruising speed; a negative value drives the rover in reverse (rear first) towards target_ned (Invalid: NaN Defaults to maximum speed)
arrival_speed	float32	m/s	[0 : inf]	Speed magnitude to arrive at the target with, independent of the direction of travel (Invalid: NaN Defaults to 0)
yaw	float32	rad [NED]	[-pi : pi]	Currently unused. Only for vehicles that can move sideways (e.g. mecanum): vehicle yaw during travel. (Invalid: NaN Not considered)

Source Message

Source file (GitHub)

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# Surface Vehicle Position Setpoint
#
# Position setpoint consumed by the rover position controllers (AckermannPosControl,
# DifferentialPosControl, MecanumPosControl), which turn it into surface_vehicle_speed_setpoint
# and surface_vehicle_attitude_setpoint.
# Published by the manual (position), auto and offboard drive modes of rover_ackermann,
# rover_differential and rover_mecanum, and can be sent from ROS 2 over uXRCE-DDS
# (/fmu/in/surface_vehicle_position_setpoint).
# The rover follows the desired track from start_ned to target_ned. To control the course over ground
# instead, publish surface_vehicle_course_setpoint; the position controller follows whichever
# of the two was published most recently.

uint64 timestamp # [us] Time since system start
float32[2] target_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN No target; the position controller stays idle] Target position
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to the vehicle position when the setpoint is received] Start position of the desired track towards target_ned
float32 cruising_speed # [m/s] [@range -inf, inf] [@invalid NaN Defaults to maximum speed] Cruising speed; a negative value drives the rover in reverse (rear first) towards target_ned
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed magnitude to arrive at the target with, independent of the direction of travel
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN Not considered] Currently unused. Only for vehicles that can move sideways (e.g. mecanum): vehicle yaw during travel.