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una-auxme / paf

MIT License
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[Feature]: Tune Pure-Pursuit Steering Algorithm to work with new leaderboard #155

Closed hellschwalex closed 8 months ago

hellschwalex commented 9 months ago

Description

The PP-Controller uses the current position and heading and the planned trajectory to create a vector from actual to target point. It then calculates the angle of this vector and with that determines the heading-error with the vector-angle (target-angle) and the current heading (actual-angle).

To determine the target-point it "looks ahead" on the trajectory by a TUNEABLE distance "look-ahead-distance", best tuned depending on current speed.

Problem with #151 since the current heading is very important to the steering controller!!!

Definition of Done

No response

hellschwalex commented 9 months ago

Switching the published "current_heading" to just publish the LMUs yaw works wonders here!