I'm wring a path planner independent of the LIDAR based nav stack. (My platform works outdoors in places that are unmapped)

The robot has a base controller that works well with joystick teleoperation and it publishes /odom and dose /tf broadcast that seems to work

My global planner can produce a set of waypoints in world (x,y)

What I just started to write is a local planner that will send a stream of cmd_vel messages to drive a smooth Bezier curve over the next few waypoints but taking care not to exceed some specified accelerations and velocities. I am not even calling this a planner as the planning product is the queue of waypoints. I call it an "driver" or "plan execution node"

It occurred to me that this node must be already written. It is just "points in, cmd_vel out" Anyone got a pointer?