File path_follower_node.hpp

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ROS2 node that implements the Pure Pursuit algorithm for controlling a vehicle along a raceline.

Definition (include/path_follower_node.hpp)

Detailed Description

The Class AccelerationController 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.

The Class DummyController 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.

The Class EbsController 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.

The Class PathFollowerNode 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.

The Class SkidpadController 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

Classes