RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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[navigation] add pure pursuit service #178

Closed yambati03 closed 7 months ago

yambati03 commented 7 months ago

Description

This PR does the following:

Adds a pure pursuit action server that is able to command the robot along the desired path.
Adds a tester package that contains a script with a toy example used to test the navigation code.
Adds a new rviz top-level directory. This contains a rviz configuration (navigation.rviz) that pre-configures rviz for debugging navigation code.

Testing Steps

Launch Gazebo using ros2 launch articubot_one launch_sim.launch.py
Launch rviz and set the configuration to rviz/navigation.rviz
Launch the tester node using ros2 launch tester bringup.launch.py

Expectation: Rover follows the desired path and stops at the goal.

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works