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Pure pursuit ros

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.

Dependencies

  • 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

Installation

Build with
catkin build pure_pursuit_ros

Usage

To be used inside another project.

Topics published

  • pure_pursuit_heading_control/lookahead_point - visualization of the lookahead point
  • pure_pursuit_heading_control/anchor_point - visualization of the anchor point
  • pure_pursuit_heading_control/path_segment - path segment the the controller is currently tracking
  • simple_path_tracker_ros/path - current path that the tracker has received
  • simple_path_tracker_ros/robot_pose - current pose of the robot inside the tracker