Since Stanley will be deleted, PurePursuit Controller needs to be improved.
PurePursuit is already working well to around 10m/s. Everything over is not that great. So PurePuresuit needs to be extended by either adding another tuning of the parameter for higher velocities or any other way to improve the steering, focusing on 15m/s (= 50km/h) which is the most important driving speed.
Definition of Done
Steering from PurePursuitdrastically improved on higher (10+m/s) velocities
Description
Since Stanley will be deleted, PurePursuit Controller needs to be improved. PurePursuit is already working well to around 10m/s. Everything over is not that great. So PurePuresuit needs to be extended by either adding another tuning of the parameter for higher velocities or any other way to improve the steering, focusing on 15m/s (= 50km/h) which is the most important driving speed.
Definition of Done