ros2-pure-pursuit

A python RGator pure pursuit controller written primarily by Jiaming Zhang.

Installation

1. Make Workspace

cd
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

2. Install Code and Custom ROS Message Formats

cd
pip install pandas
pip install numpy==1.23.0
sudo apt install python3-can
git clone https://github.com/AUVSL/rgator_computer_ws.git
git clone -b ros2 https://github.com/dawonn/vectornav.git
git clone https://github.com/AUVSL/ros2-pure-pursuit.git

3. Compile Code and Messages

cd ..
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r
colcon build

Package Breakdown:

• track_log: log x,y,heading data from imu, convert to .csv file
• path_visual: visualize track
• pure_pur: pure pursuit for steering control with a lookahead in front of the vehicle

Running Scripts:

Path track

ros2 launch vectornav vectornav.launch.py
ros2 run dbw dbw
ros2 run ros2-pure-pursuit pure_pur

Path log

ros2 launch vectornav vectornav.launch.py
ros2 run ros2-pure-pursuit track_log