Pure Pursuit For Vision

Version : 1.0.2
Date : 2020.09.07

Step

1. source ros1, workspace
2. Command 'rosrun pure_pursuit_for_vision pure_pursuit_for_vision'

Topic list
Pub

1. /dbw_cmd/Accel (not ready)
2. /dbw_cmd/Steer

Sub

1. /enetsad/centerPt
2. /Joint_state

Update

1. 필요한 곳에 점의 개수를 늘려 Steer input의 진동 폭을 줄임.
2. Kp, Ki, Kd can be changed by launch file. (without catkin_make)