diff --git a/packages/pure_pursuit/CMakeLists.txt b/packages/pure_pursuit/CMakeLists.txt
new file mode 100644
index 0000000..888dc66
--- /dev/null
+++ b/packages/pure_pursuit/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+project(pure_pursuit)
+
+add_compile_options(-Wall -Wextra -Wpedantic)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(wbb_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(pursuit src/main.cpp src/pursuit.cpp)
+
+target_include_directories(pursuit PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+
+target_compile_features(pursuit PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+ament_target_dependencies(
+    pursuit
+    rclcpp
+    visualization_msgs
+    wbb_msgs )
+
+
+install(TARGETS pursuit
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/packages/pure_pursuit/include/pure_pursuit/pursuit.h b/packages/pure_pursuit/include/pure_pursuit/pursuit.h
new file mode 100644
index 0000000..2a7e571
--- /dev/null
+++ b/packages/pure_pursuit/include/pure_pursuit/pursuit.h
@@ -0,0 +1,86 @@
+#pragma once
+
+#include <chrono>
+#include <cmath>
+#include <functional>
+
+#include <wbb_msgs/msg/image_path.hpp>
+#include <wbb_msgs/msg/image_pose.hpp>
+#include <wbb_msgs/msg/control.hpp>
+#include <wbb_msgs/msg/image_pixel_scale.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <visualization_msgs/msg/image_marker.hpp>
+
+namespace wbb
+{
+
+using namespace std::placeholders;
+
+class PurePursuit : public rclcpp::Node
+{
+  public:
+    PurePursuit();
+  private:
+    void handleTrajectory(wbb_msgs::msg::ImagePath::SharedPtr trajectory);
+
+    void handleBotPose(wbb_msgs::msg::ImagePose::SharedPtr bot_pose);
+
+    void handlePixelScale(wbb_msgs::msg::ImagePixelScale::SharedPtr scale);
+
+    double calculateDistance(wbb_msgs::msg::ImagePoint::SharedPtr first,
+                             wbb_msgs::msg::ImagePose::SharedPtr second);
+
+    std::pair<double, double> calculateCurvature(wbb_msgs::msg::ImagePoint::SharedPtr lookahead,
+                              wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+//    wbb_msgs::msg::ImagePoint findClosest(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+//                                                     wbb_msgs::msg::ImagePose::SharedPtr bot_pose);
+
+    wbb_msgs::msg::ImagePoint::SharedPtr checkSegment(wbb_msgs::msg::ImagePoint start,
+                                                      wbb_msgs::msg::ImagePoint end,
+                                                      wbb_msgs::msg::ImagePose::SharedPtr bot_pose,
+                                                      double scale);
+
+    wbb_msgs::msg::ImagePoint::SharedPtr findLookahead(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+                                                       wbb_msgs::msg::ImagePose::SharedPtr bot_pose,
+                                                       double scale);
+
+    void visualizeLookahead(wbb_msgs::msg::ImagePoint::SharedPtr lookahead, double scale);
+
+    void visualizeRadius(double curvature, wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+    void visualizeLARadius(wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+    void sendControlCommand();
+
+    struct Slols
+    {
+        rclcpp::Subscription<wbb_msgs::msg::ImagePath>::SharedPtr trajectory = nullptr;
+        rclcpp::Subscription<wbb_msgs::msg::ImagePose>::SharedPtr bot_pose = nullptr;
+        rclcpp::Subscription<wbb_msgs::msg::ImagePixelScale>::SharedPtr scale = nullptr;
+    } slot_;
+    struct Signals
+    {
+        rclcpp::Publisher<wbb_msgs::msg::Control>::SharedPtr control = nullptr;
+        rclcpp::Publisher<visualization_msgs::msg::ImageMarker>::SharedPtr visual = nullptr;
+    } signal_;
+
+    struct State
+    {
+        wbb_msgs::msg::ImagePath::SharedPtr trajectory = nullptr;
+        wbb_msgs::msg::ImagePose::SharedPtr bot_pose = nullptr;
+        wbb_msgs::msg::ImagePixelScale::SharedPtr scale = nullptr;
+        wbb_msgs::msg::ImagePoint::SharedPtr last_point = nullptr;
+    } state_;
+
+    std::chrono::duration<double> timeout_{0.20};
+    double lookahead_distance;
+    size_t trajectory_pos;
+    rclcpp::TimerBase::SharedPtr timer_ = nullptr;
+};
+
+} // namespace wbb
+
+
+
+
diff --git a/packages/pure_pursuit/package.xml b/packages/pure_pursuit/package.xml
new file mode 100644
index 0000000..8a22caa
--- /dev/null
+++ b/packages/pure_pursuit/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pure_pursuit</name>
+  <version>0.0.0</version>
+  <description>Simple whiteboard bot trajectory pursuit</description>
+  <maintainer email="enaix@protonmail.com">enaix</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <depend>rclcpp</depend>
+  <depend>wbb_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/packages/pure_pursuit/src/main.cpp b/packages/pure_pursuit/src/main.cpp
new file mode 100644
index 0000000..68351c5
--- /dev/null
+++ b/packages/pure_pursuit/src/main.cpp
@@ -0,0 +1,11 @@
+#include <rclcpp/rclcpp.hpp>
+
+#include "pure_pursuit/pursuit.h"
+
+int main(int argc, char ** argv)
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<wbb::PurePursuit>());
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/packages/pure_pursuit/src/pursuit.cpp b/packages/pure_pursuit/src/pursuit.cpp
new file mode 100644
index 0000000..022fdbd
--- /dev/null
+++ b/packages/pure_pursuit/src/pursuit.cpp
@@ -0,0 +1,304 @@
+#include "pure_pursuit/pursuit.h"
+
+namespace wbb
+{
+
+PurePursuit::PurePursuit() : Node("pure_pursuit")
+{
+    const auto qos = static_cast<rmw_qos_reliability_policy_t>(
+        this->declare_parameter<int>("qos", RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT));
+
+    std::chrono::duration<double> period = std::chrono::duration<double>(
+        this->declare_parameter<double>("period", 0.02));
+    lookahead_distance = this->declare_parameter<double>("lookahead", 0.2);
+    trajectory_pos = 0;
+
+    timer_ = this->create_wall_timer(period, std::bind(&PurePursuit::sendControlCommand, this));
+
+    slot_.trajectory = this->create_subscription<wbb_msgs::msg::ImagePath>(
+        "/robot/motion", 1, std::bind(&PurePursuit::handleTrajectory, this, _1)
+        );
+
+    slot_.bot_pose = this->create_subscription<wbb_msgs::msg::ImagePose>(
+        "/robot/ego", rclcpp::QoS(1).reliability(qos),
+        std::bind(&PurePursuit::handleBotPose, this, _1)
+        );
+
+    slot_.scale = this->create_subscription<wbb_msgs::msg::ImagePixelScale>(
+        "/board/scale", 1, std::bind(&PurePursuit::handlePixelScale, this, _1)
+        );
+
+    signal_.control = this->create_publisher<wbb_msgs::msg::Control>("/movement", 1);
+    signal_.visual = this->create_publisher<visualization_msgs::msg::ImageMarker>("/robot/control/marker", 10);
+}
+
+void PurePursuit::handleTrajectory(wbb_msgs::msg::ImagePath::SharedPtr trajectory)
+{
+    if (trajectory != state_.trajectory)
+    {
+        state_.trajectory = std::move(trajectory);
+        trajectory_pos = 0;
+    }
+}
+
+void PurePursuit::handleBotPose(wbb_msgs::msg::ImagePose::SharedPtr bot_pose)
+{
+    state_.bot_pose = std::move(bot_pose);
+}
+
+void PurePursuit::handlePixelScale(wbb_msgs::msg::ImagePixelScale::SharedPtr scale)
+{
+    state_.scale = std::move(scale);
+}
+
+double PurePursuit::calculateDistance(wbb_msgs::msg::ImagePoint::SharedPtr first,
+                         wbb_msgs::msg::ImagePose::SharedPtr second)
+{
+    return std::sqrt(std::pow(first->x - second->x, 2) +
+                     std::pow(first->y - second->y, 2));
+}
+
+std::pair<double, double> PurePursuit::calculateCurvature(wbb_msgs::msg::ImagePoint::SharedPtr lookahead,
+                                       wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale)
+{
+    double chord = calculateDistance(lookahead, bot_pose);
+
+    if (chord == 0 || scale == 0)
+        return {0.0, 0.0};
+
+    double alpha = std::atan2(lookahead->y - bot_pose->y, lookahead->x - bot_pose->x) -
+                   M_PI / 2 + bot_pose->theta;
+
+    chord *= scale;
+    double velocity = 0.5;
+    if (std::sin(alpha) < 0)
+        velocity *= -1;
+
+    if (std::cos(alpha) >= 0)
+        return {(2 * std::abs(std::sin(alpha))) / chord, velocity};
+    return {-(2 * std::abs(std::sin(alpha))) / chord, velocity};
+}
+
+/*wbb_msgs::msg::ImagePoint findClosest(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+                                                 wbb_msgs::msg::ImagePose::SharedPtr bot_pose)
+{
+    double min_dist = calculateDistance(trajectory->points[0], bot_pose);
+    wbb_msgs::msg::ImagePoint min_point = trajectory->points[0];
+
+    for (auto point : trajectory->points)
+    {
+        double distance = calculateDistance(point, bot_pose);
+        if (distance < min_dist)
+        {
+            min_dist = distance;
+            min_point = point;
+        }
+    }
+
+    return min_point;
+}*/
+
+wbb_msgs::msg::ImagePoint::SharedPtr PurePursuit::checkSegment(wbb_msgs::msg::ImagePoint start,
+                                                               wbb_msgs::msg::ImagePoint end,
+                                                               wbb_msgs::msg::ImagePose::SharedPtr bot_pose,
+                                                               double scale)
+{
+    double vector_dot_a = std::pow(end.x - start.x, 2) + std::pow(end.y - start.y, 2);
+
+    double vector_dot_b = 2 * (start.x - bot_pose->x) * (end.x - start.x) +
+                          2 * (start.y - bot_pose->y) * (end.y - start.y);
+
+    double vector_dot_c = std::pow(start.x - bot_pose->x, 2) +
+                          std::pow(start.y - bot_pose->y, 2) - std::pow(lookahead_distance / scale, 2);
+
+    double discr = std::pow(vector_dot_b, 2) - 4 * vector_dot_a * vector_dot_c;
+
+    if (discr < 0 || vector_dot_a == 0)
+        return nullptr;
+
+    discr = std::sqrt(discr);
+
+    double t1 = (-vector_dot_b - discr) / (2 * vector_dot_a);
+    double t2 = (-vector_dot_b + discr) / (2 * vector_dot_a);
+
+    if (t1 >= 0 && t1 <= 1)
+    {
+        wbb_msgs::msg::ImagePoint pt;
+        pt.x = start.x + t1 * (end.x - start.x);
+        pt.y = start.y + t1 * (end.y - start.y);
+        return std::make_shared<wbb_msgs::msg::ImagePoint>(pt);
+    }
+    if (t2 >= 0 && t2 <= 1)
+    {
+        wbb_msgs::msg::ImagePoint pt;
+        pt.x = start.x + t2 * (end.x - start.x);
+        pt.y = start.y + t2 * (end.y - start.y);
+        return std::make_shared<wbb_msgs::msg::ImagePoint>(pt);
+    }
+
+    return nullptr;
+}
+
+wbb_msgs::msg::ImagePoint::SharedPtr PurePursuit::findLookahead(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+                                                   wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale)
+{
+    for (size_t i = trajectory_pos + 1; i < trajectory->points.size(); i++)
+    {
+        wbb_msgs::msg::ImagePoint::SharedPtr pt = checkSegment(trajectory->points[i - 1],trajectory->points[i],
+                                                               bot_pose, scale);
+        if (!pt)
+            continue;
+
+        if (state_.last_point && state_.last_point != pt)
+            trajectory_pos++;
+
+        state_.last_point = pt;
+        return pt;
+    }
+
+    return nullptr;
+}
+
+void PurePursuit::visualizeLookahead(wbb_msgs::msg::ImagePoint::SharedPtr lookahead, double scale)
+{
+    visualization_msgs::msg::ImageMarker vis_msg;
+    vis_msg.type = visualization_msgs::msg::ImageMarker::CIRCLE;
+    vis_msg.ns = "0";
+    vis_msg.action = visualization_msgs::msg::ImageMarker::ADD;
+
+    std_msgs::msg::ColorRGBA color;
+
+    color.r = 0.0;
+    color.g = 0.0;
+    color.b = 1.0;
+    color.a = 1.0;
+
+    vis_msg.outline_color = color;
+    vis_msg.fill_color = color;
+    vis_msg.filled = 1;
+    vis_msg.scale = 0.1 * scale;
+
+    geometry_msgs::msg::Point pt;
+    pt.x = lookahead->x * scale;
+    pt.y = lookahead->y * scale;
+
+    vis_msg.position = pt;
+    //vis_msg.lifetime = timeout_;
+
+    signal_.visual->publish(vis_msg);
+}
+
+void PurePursuit::visualizeLARadius(wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale)
+{
+    visualization_msgs::msg::ImageMarker vis_msg;
+    vis_msg.type = visualization_msgs::msg::ImageMarker::CIRCLE;
+    vis_msg.ns = "1";
+    vis_msg.action = visualization_msgs::msg::ImageMarker::ADD;
+
+    std_msgs::msg::ColorRGBA color;
+
+    color.r = 0.0;
+    color.g = 0.5;
+    color.b = 0.5;
+    color.a = 1.0;
+
+    vis_msg.outline_color = color;
+    vis_msg.filled = 0;
+    vis_msg.scale = int(lookahead_distance / scale);
+
+    geometry_msgs::msg::Point pt;
+    pt.x = bot_pose->x;
+    pt.y = bot_pose->y;
+    vis_msg.position = pt;
+
+    signal_.visual->publish(vis_msg);
+}
+
+void PurePursuit::visualizeRadius(double curvature, wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale)
+{
+    visualization_msgs::msg::ImageMarker vis_msg;
+    vis_msg.type = visualization_msgs::msg::ImageMarker::CIRCLE;
+    vis_msg.ns = "2";
+    vis_msg.action = visualization_msgs::msg::ImageMarker::ADD;
+
+    double radius = 100 / scale;
+    if (curvature != 0 && scale != 0)
+        radius = 1 / (curvature * scale);
+
+    geometry_msgs::msg::Point pt;
+    if (radius >= 0)
+    {
+        double angle = bot_pose->theta + M_PI / 2;
+        pt.x = int(radius * std::cos(angle)) + bot_pose->x;
+        pt.y = int(radius * std::sin(angle)) + bot_pose->y;
+    }
+    else
+    {
+        double angle = bot_pose->theta - M_PI / 2;
+        pt.x = bot_pose->x - int(-radius * std::cos(angle));
+        pt.y = bot_pose->y - int(-radius * std::sin(angle));
+    }
+
+    vis_msg.position = pt;
+
+    std_msgs::msg::ColorRGBA color;
+
+    color.r = 0.0;
+    color.g = 1.0;
+    color.b = 0.0;
+    color.a = 1.0;
+
+    vis_msg.outline_color = color;
+    vis_msg.filled = 0;
+    vis_msg.scale = int(radius);
+
+    //vis_msg.lifetime = timeout_;
+
+    signal_.visual->publish(vis_msg);
+}
+
+void PurePursuit::sendControlCommand()
+{
+    auto stop = [this]()
+    {
+        wbb_msgs::msg::Control msg;
+        msg.curvature = 0;
+        msg.velocity = 0;
+        signal_.control->publish(msg);
+    };
+
+    if (!(state_.trajectory && state_.bot_pose && state_.scale))
+    {
+        stop();
+        return;
+    }
+
+    wbb_msgs::msg::ImagePose bot_pose_src = *state_.bot_pose;
+    wbb_msgs::msg::ImagePose::SharedPtr bot_pose = std::make_shared<wbb_msgs::msg::ImagePose>(bot_pose_src);
+
+    double scale = std::pow(std::cos(bot_pose->theta), 2) * state_.scale->scale_x +
+                   std::pow(std::sin(bot_pose->theta), 2) * state_.scale->scale_y;
+
+    //visualizeLARadius(bot_pose, scale);
+
+    wbb_msgs::msg::ImagePoint::SharedPtr lh = findLookahead(state_.trajectory, bot_pose, scale);
+
+    if (!lh)
+    {
+        stop();
+        return;
+    }
+
+    visualizeLookahead(lh, scale);
+
+    wbb_msgs::msg::Control msg;
+    std::pair<double, double> prop = calculateCurvature(lh, bot_pose, scale);
+    msg.curvature = prop.first;
+    visualizeRadius(msg.curvature, bot_pose, scale);
+    msg.velocity = prop.second;
+    if (msg.curvature != 0)
+        RCLCPP_INFO(this->get_logger(), "%f %f", 1/msg.curvature, msg.velocity);
+    signal_.control->publish(msg);
+}
+
+} // namespace wbb
\ No newline at end of file