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I would really like to have pure pursuit available for the initial release. It's a flashy and useful feature that should attract attention to the project. There is an excellent paper here which descri…
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Make a working implementation of pure pursuit, in order to ensure that the robot is on course
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A protection against the 'division by zero' error could be desirable in [this](https://github.com/idsc-frazzoli/dg-commons/blob/1bf45a4df80e02f315993b8e03f738899cd091f9/src/dg_commons/controllers/pure…
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Right now we have a pure pursuit-ish approach to following paths, we look on the current segment a certain distance ahead and then target that point, but if we are within a certain distance of the end…
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This will take in cone data and publish waypoints for pure pursuit
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레퍼런스 자체가 body frame 기준으로는 unit step, ramp step가 아닌 nonlinear 이기 때문에 gain turning이 쉽지 않음
그래서 열심히 조사해본 결과, pure pursuit geometry라는 기하학을 알게 되었고, 관련 알고리즘을 찾을 수 있었음
![Geometry-of-the-pure-pursuit](http…
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`wait_until_line_crossed` or something similar needs to be added. This should then get implemented with `wait_until_pp_index`, and the parent point for boomerang should move back to being the boomera…
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**Required information:**
• Operating system and version:
◦ Ubuntu 18.04
• Autoware installation type:
◦ From source
• Autoware version or commit hash
◦ M…
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The current TimedTrajectory usage doesn't make much sense since we are not following the profiled velocity and simply using pid to move toward the target point. This means that the time it provides ac…