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feat(controls): smooth path follower — pure pursuit controller for Nav2 waypoint following #333

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opened 2026-03-03 06:46:30 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 06:46:30 -05:00
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Create a ROS2 node implementing pure pursuit path tracking. Subscribe to /plan (nav_msgs/Path) from Nav2 and /odom. Compute steering commands using lookahead distance (configurable, default 0.5m). Publish geometry_msgs/Twist on /cmd_vel_tracked. Include max speed limiting, goal tolerance (0.1m default), and heading correction at goal. Include tests.

Create a ROS2 node implementing pure pursuit path tracking. Subscribe to /plan (nav_msgs/Path) from Nav2 and /odom. Compute steering commands using lookahead distance (configurable, default 0.5m). Publish geometry_msgs/Twist on /cmd_vel_tracked. Include max speed limiting, goal tolerance (0.1m default), and heading correction at goal. Include tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#333
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