speed_steering.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/rover_speed_setpoint.hpp>
#include <px4_msgs/msg/rover_steering_setpoint.hpp>
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2 {
class RoverSpeedSteeringSetpointType : public SetpointBase {
 public:
  explicit RoverSpeedSteeringSetpointType(Context& context);
 
  ~RoverSpeedSteeringSetpointType() override = default;
 
  SetpointType getSetpointType() override
  {
    return px4_msgs::msg::SetpointConfig::TYPE_ROVER_SPEED_STEERING;
  }
 
  float desiredUpdateRateHz() override { return 30.f; }
 
  void update(float speed_body_x, float normalized_steering_setpoint,
              std::optional<float> speed_body_y = {});
 
 private:
  rclcpp::Node& _node;
  rclcpp::Publisher<px4_msgs::msg::RoverSpeedSetpoint>::SharedPtr _rover_speed_setpoint_pub;
  rclcpp::Publisher<px4_msgs::msg::RoverSteeringSetpoint>::SharedPtr _rover_steering_setpoint_pub;
};
 
} /* namespace px4_ros2 */