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8 lines
656 B
8 lines
656 B
# Pure pursuit status
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uint64 timestamp # [us] Time since system start
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float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
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float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
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float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
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float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
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float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
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