添加了新的planner，未实际实现过，需进行测试

src/planner/config/pure_pursuit_tracker.yaml

@@ -0,0 +1,31 @@
+topology_pure_pursuit:
+  ros__parameters:
+    use_sim_time: false
+
+    # Tracker-only mode: consume /plan generated by a planner node.
+    enable_topology_planning: false
+    accept_external_plan: true
+    publish_cmd_vel: true
+    stop_without_plan: true
+
+    map_frame: map
+    odom_topic: /odom
+    external_plan_topic: /plan
+    cmd_vel_topic: /cmd_vel
+    status_topic: /pure_pursuit_status
+
+    control_rate: 20.0
+    lookahead_distance: 0.55
+    goal_tolerance: 0.20
+    linear_speed: 0.30
+    min_linear_speed: 0.08
+    reverse_speed: 0.12
+    slowdown_distance: 0.80
+    curvature_slowdown_gain: 0.18
+    max_angular_speed: 1.5
+    min_turning_radius: 0.40
+
+    latency_compensation: true
+    max_latency_compensation: 0.25
+    max_odom_age: 0.80
+    tf_timeout: 0.05