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+# RoverAckermannSetpoint (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAckermannSetpoint.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint 		  # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 steering_setpoint      		  # [rad] Desired steering angle
+float32 steering_setpoint_normalized      # [-1, 1] Desired normalized steering angle
+float32 lateral_acceleration_setpoint     # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
+
+# TOPICS rover_ackermann_setpoint
+
+```