ROS2-PurePursuitControl-PathPlanning-Tracking

Route Planning and Tracking Application Developed Using ROS2, Turtlebot3, A*, and PurePursuit

V1.1 Version Update | 02/09/2023

Innovations / New Features

• Pure Pursuit algorithm has been optimized, providing route tracking optimization.
• B-Spline algorithm has been added for path waypoints, providing path smoothing and improving route tracking optimization.

• The Costmap algorithm has been optimized.

How it works?

Start a Gazebo simulation world. For example;

export TURTLEBOT3_MODEL=burger

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Then, run the mapping package to perform mapping.

ros2 launch slam_toolbox online_async_launch.py

Run the PathPlanning-Tracking package.

ros2 run nav_controller control

Then, set the target point via rviz2.

YouTube Preview & Usage Video

https://youtu.be/r_2mMyaLLaI

Requirements

• ROS2 - Humble
• Slam Toolbox
• Turtlebot3 Package
• Gazebo Simulator