Simple Pure Pursuit

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_simple_pure_pursuit package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

ROS Distro
humble

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Maintainers

Yuki Takagi
Kosuke Takeuchi
Takayuki Murooka

Authors

No additional 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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat: change planning output topic name to /planning/trajectory (#602)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yukihiro Saito

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

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_test_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	rclcpp
	rclcpp_components

System Dependencies

No direct 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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_simple_pure_pursuit` at Robotics Stack Exchange