The longitudinal control is implemented with a PID Controller, while the later controller is optional to use one of the three: Pure Pursuit, Stanley and MPC.
./setup_workspace.sh
Pure Pursuit
roslaunch trajectory_controller trajectory_control_demo.launch control_method:="PurePursuit"
Stanley
roslaunch trajectory_controller trajectory_control_demo.launch control_method:="Stanley"
Pure Pursuit
roslaunch trajectory_controller trajectory_control_demo.launch control_method:="MPC"
An easy way to create the .clang-format file is:
clang-format -style=llvm -dump-config > .clang-format
Available style options are described in Clang-Format Style Options.