search

ros-navigation / navigation2_tutorials

Tutorial code referenced in https://docs.nav2.org/
184 stars 124 forks source link

Pure pursuit controller not steering #13

Closed Rayman closed 3 years ago

Rayman commented 3 years ago

Hi,

I'm following the navigation2 tutorial and and was testing the pure pursuit controller. It seems to me that the controllor is not steering. See the gif below.

Possible cause

The path is transformed only once (at setPath). This means the local goal is never updated. I think the path should be transformed at every computeVelocityCommands call.

pure_pursuit_bug

SteveMacenski commented 3 years ago

A PR to resolve would be appreciated. Keep in mind this was just tutorial code so I didn't really review it for functionality. I agree though that having a functional pure-pursuit controller would be helpful though for some users.

Rayman commented 3 years ago

I've fixed the 2 issues I found, I'll clean it up for a PR soon™