Pure pursuit path tracker

This code consists of implementation of pure pursuit path tracking algorithm. It tracks a given reference path given to it. Currently it reads waypoints from a file and publishes ackerman steering commands. Topic names are defined in the config file.

Usage

1. Run the F1/10 simulator.

roslaunch pure_pursuit_tracker pure_pursuit_simulator.launch

2. Run pure pursuit controller node.

roslaunch pure_pursuit_tracker run_sim_pure_pursuit.launch

You can change the parameters of the pure pursuit tracker in the config file pure_pursuit_sim.yaml located inside config folder.