Pure Pursuit path tracking algorithm implemented in Python using ROS as middleware.

This repository contains an implementation of the Pure Pursuit algorithm for path tracking. The algorithm requires the follow_path and vel_limiter nodes to be running for proper operation.

The vel_limiter node limits the robot's velocity. It caps the robot's velocity at 0.4 m/s and 0.4 rad/s, and uses LiDAR readings to stop the robot if there is an obstacle nearby. This behavior is based on the /range_min topic, which publishes the smallest range within the 90 degrees in front of the LiDAR.

vel_limiter is optional. If you do not want to cap your robot's velocity, you can change the topic that follow_path publishes its velocities to cmd_vel.

To run the algorithm, follow these steps:

1. Clone this git repository into your workspace src directory:

   git clone https://github.com/EricoMeger/pure-pursuit

2. Build the workspace:

   catkin_make

3. Launch the Pure Pursuit algorithm:

   roslaunch pure-pursuit pursuit.launch

follow_path will start publishing velocities immediately after receiving a path message.