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+# ROS2-PurePursuitControl-PathPlanning-Tracking
+Route Planning and Tracking Application Developed Using ROS2, Turtlebot3, A*, and PurePursuit
+
+
+![Screenshot_5](https://user-images.githubusercontent.com/87595266/205762696-91c48af3-617d-4784-a1d9-ebe66400df4c.png)
+
+# V1.1 Version Update | 02/09/2023
+
+![1-min](https://user-images.githubusercontent.com/87595266/217926638-2232239a-5f35-469e-829c-a2883f835bdc.gif)
+
+
+
+## Innovations / New Features
+
+
+- Pure Pursuit algorithm has been optimized, providing route tracking optimization.
+- B-Spline algorithm has been added for path waypoints, providing path smoothing and improving route tracking optimization.
+
+ ![Screenshot from 2023-01-31 21-28-34](https://user-images.githubusercontent.com/87595266/217913980-c0ec9e54-0f9c-4488-8a21-2d258873a409.png)
+ 
+ - The Costmap algorithm has been optimized.
+
+# How it works?
+
+Start a Gazebo simulation world. For example;
+
+`export TURTLEBOT3_MODEL=burger`
+
+
+`ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py`
+
+
+
+Then, run the mapping package to perform mapping.
+
+`ros2 launch slam_toolbox online_async_launch.py`
+
+Run the PathPlanning-Tracking package.
+  
+`ros2 run nav_controller control`
+
+Then, set the target point via rviz2.
+
+# YouTube Preview & Usage Video
+https://youtu.be/r_2mMyaLLaI
+
+## Requirements
+
+- ROS2 - Humble
+- Slam Toolbox
+- Turtlebot3 Package
+- Gazebo Simulator
+