trajectory_tracker package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

trajectory_tracker

trajectory_tracker node controls vehicle velocity to follow given path.

Subscribed topics

• ~/path (new: path) [nav_msgs::Path]
• ~/speed (new: speed) [std_msgs::Float32]
• /tf
• /odom [nav_msgs::Odometry] (Optional: this topic is subscribed only when “use_odom” option is true)

Published topics

• ~/cmd_vel (new: cmd_vel) [geometry_msgs::Twist]
• ~/status [trajectory_tracker_msgs::TrajectoryTrackerStatus]
• ~/tracking [geometry_msgs::PoseStamped]

Services

Called services

Parameters

• “frame_robot” (string, default: std::string(“base_link”))
• “path” deprecated (string, default: std::string(“path”))
• “cmd_vel” deprecated (string, default: std::string(“cmd_vel”))
• “hz” (double, default: 50.0)
• “look_forward” (double, default: 0.5)
• “curv_forward” (double, default: 0.5)
• “k_dist” (double, default: 1.0)
• “k_ang” (double, default: 1.0)
• “k_avel” (double, default: 1.0)
• “gain_at_vel” (double, default: 0.0)

  compensate k_ang according to the current linear velocity to keep convergence characteristic at the linear velocity, specified by this parameter, if gain_at_vel != 0

• “dist_lim” (double, default: 0.5)
• “dist_stop” (double, default: 2.0)
• “rotate_ang” (?, default: M_PI / 4)
• “max_vel” (double, default: 0.5)
• “max_angvel” (double, default: 1.0)
• “max_acc” (double, default: 1.0)
• “max_angacc” (double, default: 2.0)
• “acc_toc_factor” (double, default: 0.9)

  decrease max_acc by this factor in time optimal control to reduce vibration due to control delay.

• “angacc_toc_factor” (double, default: 0.9)

  decrease max_angacc by this factor in time optimal control to reduce vibration due to control delay. This parameter is valid when “use_time_optimal_control” is true.

• “path_step” (int, default: 1)
• “goal_tolerance_dist” (double, default: 0.2)
• “goal_tolerance_ang” (double, default: 0.1)
• “stop_tolerance_dist” (double, default: 0.1)
• “stop_tolerance_ang” (double, default: 0.05)
• “no_position_control_dist” (double, default: 0.0)
• “min_tracking_path” (?, default: noPosCntlDist)
• “allow_backward” (bool, default: true)
• “limit_vel_by_avel” (bool, default: false)
• “check_old_path” (bool, default: false)
• “use_odom” (bool, default: false)

  When use_odom is false, trajectory_tracker publishes command velocities at a constant rate specified in “hz” option. When use_odom is true, it publishes command velocities just after odometry is updated. “hz” option is ignored in this mode.

• “predict_odom” (bool, default: true)

  If true, predicted coordinates of the robot at the present timestamp are used. This parameter is valid when “use_odom” is true.

• “odom_timeout_sec” (double, default: 0.1)

  Robot will be stopped after the duration specified in this parameter has passed since the last odometry was received. This parameter is valid when “use_odom” is true.

• “use_time_optimal_control” (bool, default: True)

  If true, time optimal control mode is used during turning in place. Otherwise, the same algorithm used for path tracking is used.

• “time_optimal_control_future_gain” (double, default: 1.5)

  A gain to look ahead to robot’s angle used in time optimal control. This parameter is valid when “use_time_optimal_control” is true.

• “k_ang_rotation” (double, default: 1.0)

  “k_ang” value used during turning in place. This parameter is valid when “use_time_optimal_control” is false.

• “k_avel_rotation” (double, default: 1.0)

  “k_avvel” value used during turning in place. This parameter is valid when “use_time_optimal_control” is false.

trajectory_recorder

trajectory_recorder node generates Path message from TF.

Subscribed topics

• /tf

Published topics

• ~/recpath (new: path) [nav_msgs::Path]

Services

Called services

Parameters

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Changelog for package trajectory_tracker

0.18.2 (2025-07-16)

0.18.1 (2025-06-06)

0.18.0 (2025-05-13)

0.17.7 (2025-04-16)

0.17.6 (2025-03-18)

• trajectory_tracker: fix the method for projecting paths onto 2D (#759)
• Contributors: Naotaka Hatao

0.17.5 (2025-02-21)

0.17.4 (2025-01-20)

0.17.3 (2024-12-25)

0.17.2 (2024-11-07)

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

• planner_cspace: start planning from expected robot pose (#717)
• Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

• trajectory_tracker: make trajectory_tracker library (#713)
• Contributors: Naotaka Hatao

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

• trajectory_tracker: relax test conditions (#674)
• Improve test logs on timeout (#673)
• trajectory_tracker: throttle tf exception logs (#670)
• trajectory_tracker: improve test stability (#667)
• Contributors: Atsushi Watanabe

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

0.11.7 (2022-08-05)

• trajectory_tracker: fix prediction_offset of trajectory_tracker (#644)
• Contributors: Naotaka Hatao

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

• trajectory_tracker: increase SwitchBackWithPathUpdate test timeout (#611)
• Contributors: Atsushi Watanabe

0.11.0 (2021-08-30)

• trajectory_tracker: add velocity tolerance parameters (#607)
• Apply clang-format-11 with new setting (#605)
• Contributors: Naotaka Hatao

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

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