Creating pure pursuit planner


I’m looking for tutorials or guidance for creating custom base local planner plugin.

The planner should follow the path and don’t want avoid obstacles, it just need to wait and move after obstacles cleared.

I also welcoming suggestions for if my requirement is already available.

Hi, ROS answers it’s a better place for these kind of questions but this might help

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You could also take a look at the nav2 implementation of the pure pursuit planner Regulated Pure Pursuit — Navigation 2 1.0.0 documentation

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Yes, this controller documentation is perfectly match for my requirement. But is there any option to use this in ros1.

No, it’s part of the nav2 stack. So ros2 is required.