fix(simulation): use PX4 rover offboard control level

tests/test_simulation_worker_agent_command.py

@@ -59,10 +59,8 @@ class _Message:
 
 class _Messages:
     OffboardControlMode = _Message
-    RoverSpeedSetpoint = _Message
+    RoverThrottleSetpoint = _Message
     RoverSteeringSetpoint = _Message
-    RoverAttitudeSetpoint = _Message
-    RoverRateSetpoint = _Message
 
 
 class _Publisher:
@@ -173,8 +171,8 @@ def test_worker_agent_command_dispatch_fails_closed_on_unsafe_envelope() -> None
         )
 
 
-def test_px4_adapter_publishes_speed_steering_without_direct_actuators() -> None:
-    publishers = [_Publisher() for _ in range(5)]
+def test_px4_adapter_maps_speed_to_stock_rover_throttle_without_direct_actuators() -> None:
+    publishers = [_Publisher() for _ in range(3)]
 
     Ros2Px4AckermannControl._publish_setpoint(
         _Messages,
@@ -185,14 +183,11 @@ def test_px4_adapter_publishes_speed_steering_without_direct_actuators() -> None
     )
 
     offboard = publishers[0].messages[0]
-    speed = publishers[1].messages[0]
+    throttle = publishers[1].messages[0]
     steering = publishers[2].messages[0]
-    attitude = publishers[3].messages[0]
-    rate = publishers[4].messages[0]
-    assert offboard.velocity is True
+    assert offboard.velocity is False
+    assert offboard.thrust_and_torque is True
     assert offboard.direct_actuator is False
-    assert speed.speed_body_x == 1.0
-    assert isnan(speed.speed_body_y)
+    assert throttle.throttle_body_x == pytest.approx(1.0 / 3.1)
+    assert isnan(throttle.throttle_body_y)
     assert steering.normalized_steering_setpoint == -0.55
-    assert isnan(attitude.yaw_setpoint)
-    assert isnan(rate.yaw_rate_setpoint)