sl-controls
1c8430e68a
Implements saltybot_pure_pursuit package: - Pure pursuit algorithm for path following with configurable parameters - Lookahead distance (0.5m default) for target point on path - Goal tolerance (0.1m) for goal detection - Heading error correction to reduce speed when misaligned with path - Publishes Twist commands on /cmd_vel_tracked for Nav2 integration - Subscribes to /odom (odometry) and /path (Path trajectory) - Tracks and publishes cross-track error for monitoring Pure pursuit geometry: - Finds closest point on path to robot current position - Looks ahead specified distance along path from closest point - Computes steering angle to follow circular arc to lookahead point - Reduces linear velocity when heading error is large (with correction enabled) - Clamps velocities to configurable maximums Configuration parameters: - lookahead_distance: 0.5m (typical range: 0.1-1.0m) - goal_tolerance: 0.1m (distance to goal before stopping) - heading_tolerance: 0.1 rad (unused but can support in future) - max_linear_velocity: 1.0 m/s - max_angular_velocity: 1.57 rad/s - use_heading_correction: true (reduces speed on large heading errors) Comprehensive test suite: 20+ tests covering: - Geometric calculations (distance, quaternion conversions) - Path following logic (empty path, straight/curved/spiral paths) - Steering calculations (heading errors, velocity limits) - Edge cases and realistic scenarios - Control loop integration - Parameter variations Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
from setuptools import setup, find_packages
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package_name = 'saltybot_pure_pursuit'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/saltybot_pure_pursuit']),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/config', ['config/pure_pursuit_config.yaml']),
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('share/' + package_name + '/launch', ['launch/pure_pursuit.launch.py']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='SaltyBot Controls',
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author_email='sl-controls@saltybot.local',
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maintainer='SaltyBot Controls',
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maintainer_email='sl-controls@saltybot.local',
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keywords=['ROS2', 'pure_pursuit', 'path_following', 'nav2'],
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classifiers=[
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'Intended Audience :: Developers',
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'License :: OSI Approved :: MIT License',
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'Programming Language :: Python :: 3',
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'Topic :: Software Development',
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],
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entry_points={
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'console_scripts': [
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'pure_pursuit_node=saltybot_pure_pursuit.pure_pursuit_node:main',
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],
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},
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) |