/pure_pursuit

A ROS implementation of the pure pursuit path following algorithm.

Primary LanguageC++MIT LicenseMIT

README

A pure pursuit path following controller, implemented in ROS.

Dependencies

In addition to ROS packages included in the desktop-full variant, it requires The ackermann_msgs ROS package for publishing Ackermann steering commands, which can be installed from the official ROS repo:

sudo apt install ros-kinetic-ackermann-msgs

Usage

To se a demo of the controller in action, use the lattice_navigation_demos package.

Limitations

The controller currently does not handle backwards driving correctly.