diff --git a/code/acting/src/acting/pure_pursuit_controller.py b/code/acting/src/acting/pure_pursuit_controller.py
index 938d4b1e..c5ba6f84 100755
--- a/code/acting/src/acting/pure_pursuit_controller.py
+++ b/code/acting/src/acting/pure_pursuit_controller.py
@@ -1,13 +1,21 @@
 #!/usr/bin/env python
+from math import atan, sin
+
+import numpy
 import ros_compatibility as roscomp
-# from carla_msgs.msg import CarlaGnssRoute
+from carla_msgs.msg import CarlaSpeedometer
+from geometry_msgs.msg import Point, Pose
+from nav_msgs.msg import Path
 from ros_compatibility.node import CompatibleNode
 from ros_compatibility.qos import QoSProfile, DurabilityPolicy
 from rospy import Publisher, Subscriber
+from sensor_msgs.msg import NavSatFix, Imu
 from std_msgs.msg import Float32, Bool
+from tf.transformations import euler_from_quaternion
 
 
 # todo: docs
+# todo: test
 class PurePursuitController(CompatibleNode):
     def __init__(self):
         super(PurePursuitController, self).__init__('pure_pursuit_controller')
@@ -16,17 +24,29 @@ def __init__(self):
         self.control_loop_rate = self.get_param('control_loop_rate', 0.05)
         self.role_name = self.get_param('role_name', 'ego_vehicle')
 
-        self.stanley_steer_sub: Subscriber = self.new_subscription(
-            Float32,
-            f"/carla/{self.role_name}/max_velocity",
-            self.__get_max_velocity,
+        self.position_sub: Subscriber = self.new_subscription(
+            Path,
+            f"/carla/{self.role_name}/path",
+            self.__set_path,
             qos_profile=1)
 
-        # self.position_sub: Subscriber = self.new_subscription(
-        #     GNSSMeasurement,
-        #     f"/carla/{self.role_name}/Speed",
-        #     self.__get_velocity,
-        #     qos_profile=1)
+        self.heading_sub: Subscriber = self.new_subscription(
+            Imu,
+            f"/carla/{self.role_name}/IMU",
+            self.__set_heading,
+            qos_profile=1)
+
+        self.path_sub: Subscriber = self.new_subscription(
+            NavSatFix,
+            f"/carla/{self.role_name}/GPS",
+            self.__set_position,
+            qos_profile=1)
+
+        self.velocity_sub: Subscriber = self.new_subscription(
+            CarlaSpeedometer,
+            f"/carla/{self.role_name}/Speed",
+            self.__set_velocity,
+            qos_profile=1)
 
         self.pure_pursuit_steer_pub: Publisher = self.new_publisher(
             Float32,
@@ -41,8 +61,10 @@ def __init__(self):
                 durability=DurabilityPolicy.TRANSIENT_LOCAL)
         )
 
-        self.__current_velocity: float = 0
-        self.__max_velocity: float = 0
+        self.__position: (float, float) = None  # latitude, longitude in deg
+        self.__path: Path = None
+        self.__heading: float = None
+        self.__velocity: float = None
 
     def run(self):
         """
@@ -51,6 +73,7 @@ def run(self):
         """
         self.loginfo('PurePursuitController node running')
         self.status_pub.publish(True)  # todo: delete (this is only
+
         # necessary if vehicle controller isn't running)
 
         def loop(timer_event=None):
@@ -59,11 +82,75 @@ def loop(timer_event=None):
             :param timer_event: Timer event from ROS
             :return:
             """
-            pass
+            if self.__path is None:
+                self.logerr("PurePursuitController hasn't received a path yet "
+                            "and can therefore not publish steering")
+                return
+            if self.__position is None:
+                self.logerr("PurePursuitController hasn't received the"
+                            "position of the vehicle yet "
+                            "and can therefore not publish steering")
+                return
+
+            if self.__heading is None:
+                self.logerr("PurePursuitController hasn't received the heading"
+                            "of the vehicle yet and can therefore "
+                            "not publish steering")
+                return
+
+            if self.__velocity is None:
+                self.logerr("PurePursuitController hasn't received the "
+                            "velocity of the vehicle yet "
+                            "and can therefore not publish steering")
+                return
+            self.pure_pursuit_steer_pub.publish(self.__calculate_steer())
 
         self.new_timer(self.control_loop_rate, loop)
         self.spin()
 
+    def __set_position(self, data: NavSatFix):
+        self.__position = (data.latitude, data.longitude)
+
+    def __set_path(self, data: Path):
+        self.__path = data
+
+    def __set_heading(self, data: Imu):  # todo: test
+        rot_euler = euler_from_quaternion(data.orientation)
+        self.__heading = rot_euler[2]
+
+    def __set_velocity(self, data):
+        self.__velocity = data.speed
+
+    def __calculate_steer(self) -> float:
+        L = 2  # dist between front and rear wheels todo: measure
+        K = 10  # todo: tune
+        alpha = self.__get_heading_error()
+        look_ahead_dist = K * self.__velocity
+        steering_angle = atan((2 * L * sin(alpha)) / look_ahead_dist)
+        return steering_angle
+
+    def __get_heading_error(self) -> float:
+        my_heading = self.__heading
+        target_rot = self.__get_closest_point_on_path().orientation
+        rot_euler = euler_from_quaternion(target_rot)
+        target_heading = rot_euler[2]
+        return target_heading - my_heading
+
+    def __get_closest_point_on_path(self) -> Pose:
+        min_dist: float = 10e1000
+        min_pos: Pose = None
+        for pose in self.__path.poses:
+            if self.__dist_to(pose.position) <= min_dist:
+                min_dist = self.__dist_to(pose.position)
+                min_pos = pose
+        if min_pos is None:
+            raise Exception()
+        return min_pos
+
+    def __dist_to(self, pos: Point) -> float:
+        my_pos = numpy.array((self.__position[0], self.__position[1], pos[2]))
+        return numpy.linalg.norm(my_pos - pos)
+
 
 def main(args=None):
     """