Nav2 regulated pure pursuit path-following controller

Official C++ Nav2 controller implementation for lookahead curvature, velocity regulation, heading rotation and configurable collision checking. It returns velocity commands inside a configured Nav2 stack; this single source is not a standalone or runtime-verified robot task.

nav2-regulated-pure-pursuit-controller | Record version: source-9f5f23dc174e2bfae10c502fdebecc37b65d5397039d0c2c4504404557101d85

Record JSON | Markdown | Pinned upstream source

Access

Inspect the pinned source, plugin registration, package declarations and CMake configuration. Obtain and review the complete upstream package before configuring a host. This reference only retrieves inert source; it supplies no build, install or execution adapter.

For one verified inert file, use the installed CLI's inspect response fetch_source_args and append --project DIR --json. Source-file retrieval creates no environment and does not install or run the source.

Hub preparation adapter: false. Follow the upstream setup and invocation contract.

Source and license

Repository: https://github.com/ros-navigation/navigation2
Revision: 58e4019eb149ed4387938d9cd13f38659b86f754
Path: nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
Source SHA256: 9f5f23dc174e2bfae10c502fdebecc37b65d5397039d0c2c4504404557101d85
Source bytes: 21663
Original authors: Shrijit Singh, Samsung Research America
License: Apache-2.0
License scope: Selected C++ source explicitly declares Apache-2.0, copyright 2020 Shrijit Singh and Samsung Research America; the package.xml agrees. Preserve attribution, license and applicable notices. The root repository is multi-license. This review covers only the selected source and does not clear other package files, helper implementations, dependencies, binaries or physical-robot deployment.
License SHA256: not independently verified
Hub commit: 1c4c1e1533ff364fd4a35cddc8750b9306b0a5ba

Artifact

{
  "kind": "code",
  "format": "cpp"
}

Requirements

{
  "python": null,
  "packages": [
    "Complete pinned nav2_regulated_pure_pursuit_controller ROS 2 package and ament_cmake build environment",
    "angles",
    "nav2_common",
    "nav2_core",
    "nav2_util",
    "nav2_costmap_2d",
    "rclcpp",
    "geometry_msgs",
    "nav2_msgs",
    "nav_msgs",
    "std_msgs",
    "pluginlib",
    "tf2",
    "tf2_geometry_msgs",
    "C++17-capable toolchain and complete package helper sources/headers"
  ],
  "hardware": [],
  "system": [
    "Configured Nav2 controller server and lifecycle node loading this plugin",
    "Valid plan, robot pose/speed, goal checker, tf2 transforms, footprint and costmap"
  ],
  "notes": "computeVelocityCommands locks parameter/costmap state, transforms the plan, selects and publishes lookahead points, calculates curvature, handles heading rotation/reversing and applies curvature, cost and goal-approach velocity constraints. Configured collision detection can throw NoValidControl through a separate collision checker; its presence is not a measured safety guarantee. The source returns TwistStamped to its host rather than publishing cmd_vel itself. It creates lifecycle publishers for received_global_plan, lookahead_point, curvature_lookahead_point and is_rotating_to_heading. Cancellation can use configured deceleration; plan/reset/speed-limit methods change internal state. CMake explicitly requests C++17. Package version 1.3.14 and cached jazzy ref are declarations, not tested compatibility. Headers, path/parameter/collision helpers, ROS graph, transforms, footprint and host server must be supplied and reviewed."
}

Invocation

{
  "entrypoint": "pluginlib nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController (nav2_core::Controller)",
  "notes": "Registered C++ shared-library plugin, not a ros2 run executable, standalone file or Hub recipe. Pinned nav2_regulated_pure_pursuit_controller/nav2_regulated_pure_pursuit_controller.xml names the class/base/library; CMake builds and exports it. A configured lifecycle host must load it through the intended Nav2 server. Read the full package, parameters and dependencies before any build or activation. The Hub only indexes one inert source file and did not compile, load or execute a plugin, ROS node, simulator or robot."
}

Explicit compatibility

[]

Missing environment fields remain unknown. Discovery labels do not establish robot compatibility.

Evidence

Level: source_reviewed; runtime verification: not_run.

Complete selected C++ source and package/plugin/CMake texts read as inert data. Twelve bounded anonymous immutable-file GETs matched complete cached-tree Git blob identities and sizes. Source headers, root multi-license index, package declarations, plugin exports and side effects inspected; no compile, import, load, simulation, hardware, performance or compatibility test.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.