USAGE_GUIDE.md

Usage Guide

To use this node on the physical car, run

ros2 launch pure_pursuit pure_pursuit.launch.py

This will use the parameters from the config file config/config.yaml

If you want to test it out in simulation, which uses different topic names, run

ros2 launch pure_pursuit sim_pure_pursuit_launch.py

Trying different parameters without rebuilding

Setting the gain

ros2 param set pure_pursuit K_p 0.1

Setting the velocity profile

ros2 param set pure_pursuit velocity_percentage 0.7