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autoware_simple_pure_pursuit package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

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Package Summary

Tags No category tags.
Version 1.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-06-07
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 autoware_simple_pure_pursuit package

Additional Links

No additional links.

Maintainers

  • Yuki Takagi
  • Kosuke Takeuchi
  • Takayuki Murooka

Authors

No additional authors.
control/autoware_simple_pure_pursuit/README.md

Simple Pure Pursuit

The simple_pure_pursuit node receives a reference trajectory from motion_velocity_smoother and calculates the control command using the pure pursuit algorithm.

Flowchart

@startuml
title on_timer
start

:takeData;
if (is data ready?) then (yes)
else
  stop
endif

group create_control_command
  if (reached goal?) then (yes)
    :publish stop command;
    stop
  endif
  :calc_longitudinal_control;
  :calc_steering_angle;
end group

:publish control command;

stop
@enduml

Input topics

Name Type Description
~/input/odometry nav_msgs::msg::Odometry ego odometry
~/input/trajectory autoware_planning_msgs::msg::Trajectory reference trajectory

Output topics

Name Type Description QoS Durability
~/output/control_command autoware_control_msgs::msg::Control control command volatile

Parameters

{{ json_to_markdown(“control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json”) }}

CHANGELOG

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

  • fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
    • fix(autoware_simple_pure_pursuit): change control command topic to transient local
    • style(pre-commit): autofix

    * fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> * fix: use timestamp from subscribed message ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • Contributors: Ryohsuke Mitsudome

0.3.0 (2025-03-21)

  • chore: fix versions in package.xml
  • feat: add autoware_simple_pure_pursuit package (#140)
  • Contributors: Takayuki Murooka, mitsudome-r

Wiki Tutorials

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Messages

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Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange

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