Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_pure_pursuit at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-24 |
Dev Status | DEVELOPED |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Takagi
- Kosuke Takeuchi
- Takayuki Murooka
Authors
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 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>
-
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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
autoware_core_control |
Launch files
- launch/simple_pure_pursuit.launch.xml
-
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]