Trajectory Follower Nodes

Purpose

Generate control commands to follow a given Trajectory.

Design

This is a node of the functionalities implemented in the controller class derived from autoware_trajectory_follower_base package. It has instances of those functionalities, gives them input data to perform calculations, and publishes control commands.

By default, the controller instance with the Controller class as follows is used.

@startuml
package autoware_trajectory_follower_base {
abstract class LateralControllerBase {
longitudinal_sync_data_

    virtual isReady(InputData)
    virtual run(InputData)
    sync(LongitudinalSyncData)
    reset()

}
abstract class LongitudinalControllerBase {
lateral_sync_data_

    virtual isReady(InputData)
    virtual run(InputData)
    sync(LateralSyncData)
    reset()

}

struct InputData {
trajectory
odometry
steering
accel
}
struct LongitudinalSyncData {
is_steer_converged
}
struct LateralSyncData {
}
}

package autoware_mpc_lateral_controller {
class MPCLateralController {
isReady(InputData) override
run(InputData) override
}
}
package pure_pursuit {
class PurePursuitLateralController {
isReady(InputData) override
run(InputData) override
}
}
package pid_longitudinal_controller {
class PIDLongitudinalController {
isReady(InputData) override
run(InputData) override
}
}

package autoware_trajectory_follower_node {
class Controller {
longitudinal_controller_
lateral_controller_
onTimer()
createInputData(): InputData
}
}

MPCLateralController --|> LateralControllerBase
PurePursuitLateralController --|> LateralControllerBase
PIDLongitudinalController --|> LongitudinalControllerBase

LateralSyncData --> LongitudinalControllerBase
LateralSyncData --> LateralControllerBase
LongitudinalSyncData --> LongitudinalControllerBase
LongitudinalSyncData --> LateralControllerBase
InputData ..> LateralControllerBase
InputData ..> LongitudinalControllerBase

LateralControllerBase --o Controller
LongitudinalControllerBase --o Controller
InputData ..> Controller
@enduml

The process flow of Controller class is as follows.

```cpp // 1. create input data const auto input_data = createInputData(*get_clock()); if (!input_data) { return; }

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Changelog for package autoware_trajectory_follower_node

0.47.0 (2025-08-11)

• feat: change planning output topic name to /planning/trajectory (#11135)

  • change planning output topic name to /planning/trajectory

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_trajectory_follower, autoware_mission_planner_universe, autoware_scenario_selector): use transient_local for operation_mode_state (#11101)

  • subscribe operation-mode with transient_local
  • fix mistake
  • fix unit test code

  * pre-commit ---------

• Contributors: Kem (TiankuiXian), Yukihiro Saito

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

• fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)

  • fix(behavior_velocity_planner): reuse timestamp of recieved path
  • fix(behavior_path_planner): check timestamp first in timer driven callback
  • fix(trajectory_follower_node): check timestamp first in timer driven callback

  * fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------

• Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9853) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_trajectory_follower_node

• fix: remove unnecessary parameters (#9935)

• chore(trajectory_follower_node): fix typos (#9707)

• feat(pid_longitudinal_controller): update plotjuggler settings (#9703)

• feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature (#9675)

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