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nav2_pure_pursuit_controller package from navigation2_tutorials reponav2_costmap_filters_demo nav2_gps_waypoint_follower_demo nav2_gradient_costmap_plugin nav2_pure_pursuit_controller nav2_sms_behavior nav2_straightline_planner sam_bot_description |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-navigation/navigation2_tutorials.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2025-03-04 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Pure pursuit controller
Additional Links
No additional links.
Maintainers
- Shrijit Singh
Authors
No additional authors.
Nav2 Pure pursuit controller
Tutorial code referenced in https://docs.nav2.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
This controller implements a the pure pursuit algorithm to track a path.
How the algorithm works
The global path is continuously pruned to the closest point to the robot (see the figure below). Then the path is transformed to the robot frame and a lookahead point is determined. This lookahead point will be given to the pure pursuite algorithm to calculate a command velocity.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| nav2_bringup | |
| ament_cmake_gtest | |
| nav2_common | |
| nav2_core | |
| nav2_util | |
| nav2_costmap_2d | |
| rclcpp | |
| geometry_msgs | |
| nav2_msgs | |
| pluginlib | |
| tf2 |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged nav2_pure_pursuit_controller at Robotics Stack Exchange
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