Here’s a cool simulation to do basic waypoint following using a PurePursuit algortihm in Gazebo and ROS.

See it on Github

I’ve modified the car_demo repository to use PurePursuit and perform waypoint following. The PurePursuit algorithm is a modified version of one presented by the open source PythonRobotics Library.

I was really hoping to use Gazebo into my simulation platform for teleoperation in my M.S., but it looks like development on the car_demo plugin has stopped. None the less, a quick Google search yielded little results for “Gazebo + PurePurusit”, so I am publishing this in case someone else finds it helpful.