Implement trajectory following in Simulator

[pi-tronic]

https://www.mathworks.com/help/nav/ug/pure-pursuit-controller.html

[pi-tronic]

[pi-tronic]

• stole a pure pursuit code, worked, but classes...
• able to read nodes from file and display them with matplotlib, to later put pure pursuit on them

[pi-tronic]

Added the ppc into the map, just for fun.

Not ideal, as it is driving onto the wrong lane, but could be used if time demands it..

[pi-tronic]

Schnittpunkte am Kreis finden...

Hell yeah! Ansatz Nummer #423454346............!!"E!"$RFEF§

Currently working on selfmade PPC to gain more control over behavior. Maybe 35% done (+- 20% >:()

[pi-tronic]

new approach: there is a back-port of the nav2 pure pursuit controller

test this on simulator till 14.01.24

link to back-port

[pi-tronic]

back-port of nav2 is not suited

found some promising PPCs which require the odometry topic -- therefore an odometry plugin is necessary

• [x] install odometry plugin