ROS2 Longitudinal Controller

A basic PID Longitudinal Controller for ROS2 Foxy and SVL Simulator.

Dependencies

lgsvl-msgs

Deployment

To deploy this project run

  ros2 launch longitudinal_controller Controller.launch.py

Parameters

Parameter	Type
target_velocity	float
kp	float
kd	float
ki	float
frequency	float
odometry_topic	string
control_data_topic	string

Screenshots

Test run of the package with 20 mps target velocity.

Authors

• @lilyildiz