A collection of ROS packages for a controller that can be used for navigating a global path (using a carrot point at a horizon distance), or to arrive as straight as possible to a goal (align with y axis and yaw angle first then steer towards the xy position).
This controller uses ruckig to limit jerk.
Based on "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environments" by Park and Kuipers, ICRA 2011.