New features for the ackermann rover module

[chfriedrich98]

Solved Problem

This PR adds new features and a bugfix on a logging issue to the ackerman rover module from #23024:

Solution

1. Adds support for the return to launch (RTL) functionality
2. Adds a slew rate for the actuators which can be set with:

Parameter	Description	Unit
RA_MAX_ACCEL	Maximum acceleration for the rover	$m/s^2$
RA_MAX_STR_RATE	Maximum steering rate for the rover	$rad/s$

The slew rate for the acceleration is not based on acceleration measurements but rather on an assumed linear relation between the throttle and maximum rover speed. Therefor the maximum rover speed RA_MAX_SPEED needs to be set for this to work.
The slew rate for the steering rate is also based on a assumed linear relation between steering input and steering angle. Therefor the maximum steering angle RA_MAX_STR_ANG needs to be set for this to work.

3. Adds a new ackermann rover specific message to log data for tuning:
   The new message is called RoverAckermannStatus.msg and includes the following:

Variable	Description	Unit
throttle_setpoint	[-1, 1] Normalized throttle setpoint	-
steering_setpoint	[-1, 1] Normalized steering setpoint	-
actual_speed	Rover ground speed	$m/s$

The setpoints can be used to tune the slew rates by comparing them to the actual actuator outputs.
Note: actual_speed was moved from the already existing RoverAckermannGuidanceStatus.msg to this one s.t. it is logged both in mission and manual mode.

4. Improved the cornering slow down effect during mission mode:
   Now uses math::trajectory::computeMaxSpeedFromDistance to give speed setpoints s.t. the rover slows down to arrive at the waypoint with the cornering speed.
   This requires to set a new parameter called RA_MAX_JERK.

5. Logging bugfix:
   Fixed a bug in the module that could cause the logger to not work correctly, leading to empty log files.

Changelog Entry

For release notes:

Feature: New features and improvements for the rover ackermann module.

Alternatives

Open to any suggestions.

Test coverage

• SITL tested
• HITL tested (Hardware: https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html)

Context

Related links, screenshot before/after, video

[sfuhrer]

@chfriedrich98 can you check the CI failure https://github.com/PX4/PX4-Autopilot/actions/runs/9611705793/job/26510835503?pr=23310

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/rover-ackermann-oscillates-on-a-straight-track/37797/12

[chfriedrich98]

rebased on main and squashed

[chfriedrich98]

rebased on main and removed SITL airframe

[sfuhrer]

good iteration!