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PurePursuitSim

This Repo contians C++ code for simulating the Pure Pursuit Trajectory Following Algorithm for a Robot. It allows a Robot to follow a path even if it deviates from the desired trajectory; it can recover from distrubances.

Linux:

  1. Download this project
  2. cd into this project
  3. make sure you have python 3.8 (for plotting), opencv (for displaying images) and eigen3 (for representing the robot state)
  4. run "cmake ." from inside the project root
  5. run "make" from inside the project root
  6. run the resulting executable with "./build/main" from inside the project root