ROS1 impleemntation of pure pursuit controller
For ROS2 check this branch. foxy-devel
rosrun pure_pursuit pure_pursuit_node
This node requires TF from map -> odom -> base_link
| Topic name | Type | Description |
|---|---|---|
| /pure_pursuit/path | nav_msgs/Path | Target path to follow |
| /odom | nav_msgs/Odometry | To update the lookahead distance depending on the car speed (optional) |
| Topic name | Type | Description |
|---|---|---|
| /pure_pursuit/control | ackermann_msgs/AckermannDriveStamped | Ackermann message contains the steering angle and speed |
| /pure_pursuit/lookahead_point | geometry_msgs/PointStamped | Target Lookahead point |
| Parameter name | Type | Description |
|---|---|---|
| ld_gain | Double | lookahead distance gain to depend the lookahead distance on speed ld = ld_gain * car_speed |
| min_ld | Double | Minimum lookahead distance |
| car_wheel_base | Double | The distance between the car's front and back wheels |
| controller_freq | Int | The controller Frequency |
| map_frame | String | map frame name |
| base_frame | String | base link frame name |