Simple Pure Pursuit

Package Summary

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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_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

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

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-03
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

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)

1.0.0 (2025-03-31)

fix(autoware_simple_pure_pursuit): make control command output transient local (#328)
- fix(autoware_simple_pure_pursuit): change control command topic to transient local
- style(pre-commit): autofix
* fix: use timestamp from subscribed message Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

0.3.0 (2025-03-21)

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

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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