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purepursuit package from unimore_roboracer repo

adx_curve adx_data adx_data_ros adx_msgs maps particle_filter path_logger path_publisher purepursuit kitt

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description HiPeRT-Lab's Roboracer autonomous racing stack
Checkout URI https://github.com/hipert/unimore_roboracer.git
VCS Type git
VCS Version master
Last Updated 2025-03-09
Dev Status UNKNOWN
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

C++/ROS2 porting of the ros_pp.py node, which implements a simple pure pursuit control.

Additional Links

No additional links.

Maintainers

  • Federico Gavioli

Authors

No additional authors.
src/purepursuit/README.md

Pure pursuit

General-purpose but racing-oriented ROS2 pure pursuit control implementation.

Prerequisites

  • ackermann-msgs
  • adx_msgs
  • adx_curve
  • libyamlcpp-dev

Build

The package can be built in any colcon workspace with

colcon build

Configuration and launch

Runtime parameters can be tuned via a YAML file into the conf/ directory.

Some example launchfiles are also provided into the launch/ directory.

You can use ros2 launch normally to run a launchfile

ros2 launch purepursuit <launchfile>

License

Apache 2.0 - License

Authors

  • Federico Gavioli - fgavioli - (Maintainer)
  • Francesco Gattifgatti - (Original python implementation)
  • Ayoub Raji - araji - (Original python implementation)
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_lint_auto
ament_lint_common
adx_data
adx_data_ros
adx_curve
rclcpp
std_msgs
geometry_msgs
nav_msgs
adx_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Recent questions tagged purepursuit at Robotics Stack Exchange

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