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)

1.0.0 (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