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

Output topics

Parameters

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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• docs(simple_pure_pursuit): add flowchart (#481)

  • add flowchart
  • add default value to parameter schema

  * fix parameter schema ---------Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

• fix: tf2 uses hpp headers in rolling (and is backported) (#483)

  • tf2 uses hpp headers in rolling (and is backported)

  * fixup! tf2 uses hpp headers in rolling (and is backported) ---------

• fix(autoware_simple_pure_pursuit): fix document (#473) fix deadlink

• fix(autoware_simple_pure_pursuit): fix path follower lateral deviation (#425)

  • fix::autoware_simple_pure_pursuit::fix path follower lateral deviation, v0.0

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

• chore: bump up version to 1.1.0 (#462) (#464)

• fix(autoware_simple_pure_pursuit): fix deprecated autoware_utils header (#416)

  • fix autoware_utils header
  • style(pre-commit): autofix

  * fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Masaki Baba, Mitsuhiro Sakamoto, Tim Clephas, Yukinari Hisaki, Yutaka Kondo, github-actions, 心刚

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