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ros-navigation / navigation2_tutorials

Tutorial code referenced in https://docs.nav2.org/
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Fix 2 bugs in the pure_pursuit_controller that prevented it from working and add path pruning #14

Closed Rayman closed 3 years ago

Rayman commented 3 years ago
  1. The path should be transformed on every call to computeVelocityCommands
  2. The local goal should be determined from the closest point to the robot onwards
  3. Add path pruning

Fix #13

I've even got a gif: Peek 2020-11-20 14-12

SteveMacenski commented 3 years ago

@shrijitsingh99 please review

SteveMacenski commented 3 years ago

I'm not sure Shrijit will get to this so I'll review.

PS: thanks for the comments, that made my life easier. I don't usually program with lambdas so that helped me dissect your intent

SteveMacenski commented 3 years ago

Fix the typo and we can merge it. Also see https://github.com/ros-planning/navigation2_tutorials/issues/15, I'm seriously considering now moving this to the main repo. It seems like most robotics projects have some form of pure pursuit controller in them - even if its not really what I would recommend. This only really needs a little bit of polish before I think its good enough.