Tutorial 8 - Pure Pursuit

• Building the Waypoint Logger
  • Why a Waypoint Logger?
  • Step 1 — Create the Package
  • Step 2 — Understand the Data Source
  • Step 3 — Write the Node
    • Subscription and Callback
    • Extracting Pose Data
    • Writing to CSV
    • Clean Shutdown
    • Terminal Feedback
  • Step 4 — Register the Entry Point
  • Step 5 — Build and Verify
  • Key Concepts Recap
• Recording Waypoints
  • Where This Fits
  • How It Works
  • Prerequisites
  • Steps
    • 1️⃣ Start the Waypoint Logger (Terminal 3)
    • 2️⃣ Drive the Full Track
    • 3️⃣ Stop the Logger
    • 4️⃣ Verify the Recording
• Building the Pure Pursuit Node
  • How Pure Pursuit Works
  • Step 1 — Create the Config File
  • Step 2 — Create the Launch File
  • Step 3 — Update setup.py
  • Step 4 — Write the Node
    • Loading Parameters
    • Loading Waypoints from CSV
    • Subscriber and Publisher
    • The Pure Pursuit Algorithm
  • Step 5 — Build and Test
  • Understanding the Math
  • Key Concepts Recap
• Running Pure Pursuit
  • Where This Fits
  • How It Works
  • Prerequisites
  • Steps
    • 1️⃣ Launch Pure Pursuit (Terminal 3)
    • 2️⃣ Visualize in RViz2
  • Key Parameters
  • Troubleshooting