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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 | 2025-07-30 |
| 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
The pure_pursuit package
Additional Links
No 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
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
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]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_pure_pursuit at Robotics Stack Exchange
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