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[Feature]: Test and tune velocity PID, steering pid and pure persuit controller #151
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Julian-Graf
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JoKircher
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Feb 27, 2023
# Description Implementation of the stanley controller. With the testing conducted, I am confident, that basically all errors have been fixed. Obviously tuning is still very much needed (#151). Due to a botched rebase, i created a second branch for this issue and transferred the previous progress, this should also reduces merge conflicts. Fixes #66 ## Time invested - 12 h @schwalga ## Type of change - New feature (non-breaking change which adds functionality) ## Does this PR introduce a breaking change? no ## Most important changes stanley_controller.py plus some additional fixes in basic helper functions. # Checklist: - [x] My code follows the style guidelines of this project - [x] I have performed a self-review of my own code - [x] I have commented my code, particularly in hard-to-understand areas - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on) - [x] New and existing unit tests pass locally with my changes (might be obsolete with CI later on)
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Description
Test and tune velocity PID, steering pid and pure persuit controller
Definition of Done
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