nlitz88 / f1tenth_lab5 Goto Github PK

Right now, the pure pursuit node parameterizes the frames that it uses to transform points from its received Path back to the car frame. While allowing the user to rename or change the car_frame via a parameter is fine, the map_frame parameter should be removed entirely.

Rather than using the source frame that a user specifies as a parameter, the pure pursuit node should be looking up the transform from the path's parent frame to the car's frame. Otherwise, the path could belong to any arbitrary frame, and the user may forget to update this in the parameters, and now you get the wrong transform from the frame the path is really in to the vehicle's frame. The two are needlessly decoupled right now and should be tied together.