A pure pursuit path following controller, implemented in ROS.
In addition to ROS packages included in the desktop-full variant, it requires The ackermann_msgs ROS package for publishing Ackermann steering commands, which can be installed from the official ROS repo:
sudo apt install ros-kinetic-ackermann-msgs
To se a demo of the controller in action, use the lattice_navigation_demos package.
The controller currently does not handle backwards driving correctly.