pure_pursuit launch file

pure_pursuit.launch

<?xml version="1.0" encoding="utf-8"?>



<launch>

  <arg name="name" default="tractor"/>

  <!-- Pure pursuit path tracking -->
  <node pkg="pure_pursuit" type="pure_pursuit" name="controller"  clear_params="true">
    <param name="robot_frame_id" value="base_link"/>
    <param name="global_frame_id" value="odom"/>
    <param name="lookahead_frame_id" value="lookahead"/>
    <rosparam file="/root/catkin_ws/src/pochito/config/tractor.yaml" command="load"/>
    <remap from="path_segment" to="/drive_path"/>
    <remap from="odometry" to="odom"/>
    <remap from="cmd_vel" to="cmd_vel"/>
   </node>

  <!-- ************** Robot Description *************** -->
    <!-- robot_description is used by nodes that publish to joint_states. -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find lawn_tractor_sim)/urdf/lawn_tractor.urdf.xacro"/>

</launch>