Package Summary
Tags | No category tags. |
Version | 0.46.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-06-30 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
- Takayuki Murooka
Authors
- Berkay Karaman
- Takamasa Horibe
Pure Pursuit Controller
The Pure Pursuit Controller module calculates the steering angle for tracking a desired trajectory using the pure pursuit algorithm. This is used as a lateral controller plugin in the autoware_trajectory_follower_node
.
Inputs
Set the following from the controller_node
-
autoware_planning_msgs/Trajectory
: reference trajectory to follow. -
nav_msgs/Odometry
: current ego pose and velocity information
Outputs
Return LateralOutput which contains the following to the controller node
-
autoware_control_msgs/Lateral
: target steering angle - LateralSyncData
- steer angle convergence
-
autoware_planning_msgs/Trajectory
: predicted path for ego vehicle
Parameters
{{json_to_markdown(“control/autoware_pure_pursuit/schema/pure_pursuit.schema.json”)}}
Changelog for package autoware_pure_pursuit
0.46.0 (2025-06-20)
- Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
- refactor(pure_pursuit): rework parameters (#8196)
- Contributors: Batuhan Beytekin, TaikiYamada4
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)
- Contributors: Hayato Mizushima, 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)
- fix: add missing includes to autoware_universe_utils (#10091)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 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(autoware_pure_pursuit)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_pure_pursuit (#9849) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_pure_pursuit
- Contributors: Fumiya Watanabe, Vishal Chauhan
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- ci(pre-commit): update cpplint to 2.0.0 (#9557)
- fix(cpplint): include what you use - control (#9565)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_pure_pursuit): fix cppcheck unusedFunction (#9276)
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, awf-autoware-bot[bot]
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_pure_pursuit): fix cppcheck unusedFunction (#9276)
- Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- fix(pure_pursuit): add autoware_ prefix in launch file (#8687)
- fix(autoware_pure_pursuit): fix unusedFunction (#8552) fix:unusedFunction
- fix(autoware_pure_pursuit): fix redundantInitialization
redundantInitialization
(#8225)
- fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization
- style(pre-commit): autofix
* Update control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>
- fix(autoware_pure_pursuit): fix shadowVariable
(#7932)
- fix:shadowVariable
* refactor: using range-based for loop ---------
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(control)!: refactor directory structures of the trajectory
followers
(#7521)
- control_traj
- add follower_node
* fix
- refactor(pure_pursuit): prefix package and namespace with
autoware_
(#7301)
- RT1-6683 add autoware prefix to package and namepace
* fix precommit ---------
- Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi, kobayu858
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
libboost-dev |
Dependant Packages
Name | Deps |
---|---|
autoware_trajectory_follower_node |
Launch files
- launch/pure_pursuit.launch.xml
-
- pure_pursuit_param_path [default: $(find-pkg-share autoware_pure_pursuit)/config/pure_pursuit.param.yaml]
- input/reference_trajectory [default: /planning/scenario_planning/trajectory]
- input/current_odometry [default: /localization/kinematic_state]
- output/control_raw [default: lateral/control_cmd]