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RoverAckermannGuidanceStatus (UORB message)

source file

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
float32 crosstrack_error 	# [m] Shortest distance from the vehicle to the path

# TOPICS rover_ackermann_guidance_status