ROS Navigation: Pure pursuit controller angular velocity calculation

asked 2022-09-06 12:42:57 -0600

mrunaljsarvaiya gravatar image

Hey all, I'm trying to understand the implementation of the pure pursuit controller here. I'm curious about how the angular velocity is calculated as w = curvature * linear_velocity. What's the intution behind this? I would have expected some sort of feedback controller to meet the desired orientation based on the current orientation

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