Pure pursuit controller with ros extension for publishing additional messages. This package also supports dynamic reconfigure for tuning both heading and velocity controllers in real-time.
An example of chaning the nominal velocity for adaptive velocity controller with dynamic reconfigure can be found here.
- roscpp
- eigen
- pure_pursuit_core (in this repo)
- se2_visualization_ros (in this repo)
- yaml-cpp
Pure pursuit ros depends on yaml-cpp package for parameter loading. You can install it from source (see instructinos) or you can install the latest version from PPA.
sudo apt install libyaml-cpp-dev
Build with
catkin build pure_pursuit_ros
To be used inside another project.
pure_pursuit_heading_control/lookahead_point
- visualization of the lookahead pointpure_pursuit_heading_control/anchor_point
- visualization of the anchor pointpure_pursuit_heading_control/path_segment
- path segment the the controller is currently trackingsimple_path_tracker_ros/path
- current path that the tracker has receivedsimple_path_tracker_ros/robot_pose
- current pose of the robot inside the tracker