.. _file_include_path_follower_node.hpp: File path_follower_node.hpp =========================== |exhale_lsh| :ref:`Parent directory ` (``include``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS ROS2 node that implements the Pure Pursuit algorithm for controlling a vehicle along a raceline. .. contents:: Contents :local: :backlinks: none Definition (``include/path_follower_node.hpp``) ----------------------------------------------- Detailed Description -------------------- The :ref:`exhale_class_classPathFollowerNode` class is a ROS2 node that subscribes to odometry and pose messages, and publishes Ackermann drive commands to control a vehicle along a raceline. The node implements a PD cpntroller for steering or the stanley controller, and uses feedforward action for steering control. The node also supports dynamic parameter updates for tuning the controller gains and other parameters. Includes -------- - ``ackermann_msgs/msg/ackermann_drive_stamped.hpp`` - ``cmath`` - ``f1tenth_msgs/msg/lap_performance.hpp`` - ``f1tenth_msgs/msg/lap_performance_stamped.hpp`` - ``f1tenth_msgs/msg/raceline_stamped.hpp`` - ``geometry_msgs/msg/point_stamped.hpp`` - ``lap_performance.hpp`` (:ref:`file_include_lap_performance.hpp`) - ``memory`` - ``nav_msgs/msg/odometry.hpp`` - ``nav_msgs/msg/path.hpp`` - ``raceline_utils.hpp`` - ``rclcpp/rclcpp.hpp`` - ``ros_utils.hpp`` (:ref:`file_include_ros_utils.hpp`) - ``std_msgs/msg/bool.hpp`` - ``steering_controller.hpp`` (:ref:`file_include_steering_controller.hpp`) - ``string`` - ``tf2/LinearMath/Quaternion.h`` - ``tf2/utils.h`` - ``tf2_geometry_msgs/tf2_geometry_msgs.h`` - ``utils.hpp`` (:ref:`file_include_ros_utils.hpp`) - ``vector`` Classes ------- - :ref:`exhale_class_classPathFollowerNode`