Lab 6 - Pure PursuitΒΆ


Before starting this lab, review Lecture 13 to ensure you are familiar with the material.

The objective of this lab is to give you working experience with a powerful SLAM package, Cartographer, and with a basic yet well-behaved trajectory planner: the Pure Pursuit algorithm.
Learning Outcomes:
The following fundamental should be understood by the students upon completion of this lab:
  • SLAM

  • Cartographer

  • Pure Pursuit algorithm

Required Skills: ROS, Python/C++

Allotted Time: 1.5 week

Repository: Github Repository
The repository contains the latex source files as well as any skeleton code. Compile the latex source files to view the most up to date handout.