Simple Pure Pursuit

The simple_pure_pursuit node receives a reference trajectory from motion_velocity_smoother and calculates the control command using the pure pursuit algorithm.

Flowchart

@startuml
title on_timer
start

:takeData;
if (is data ready?) then (yes)
else
  stop
endif

group create_control_command
  if (reached goal?) then (yes)
    :publish stop command;
    stop
  endif
  :calc_longitudinal_control;
  :calc_steering_angle;
end group

:publish control command;

stop
@enduml

Input topics

Output topics

Parameters

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

Changelog for package autoware_simple_pure_pursuit

1.1.0 (2025-05-01)

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(autoware_simple_pure_pursuit): fix bugprone-narrowing-conversions warnings (#918)

  • fix(autoware_simple_pure_pursuit): fix bugprone-narrowing-conversions warnings

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

• Contributors: NorahXiong, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(autoware_simple_pure_pursuit): add empty trajectory check to prevent crash (#744)

  • fix(autoware_simple_pure_pursuit): add empty trajectory check to prevent crash

  * Apply suggestion from \@Copilot Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>>

  • test(autoware_simple_pure_pursuit): add test for empty trajectory check

  * Update control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> ---------Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• ci(pre-commit): autoupdate (#723)

  • pre-commit formatting changes

• Contributors: Mete Fatih Cırıt, Yutaka Kondo, github-actions

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

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

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Mete Fatih Cırıt, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

• Merge remote-tracking branch 'origin/main' into humble

• feat: change planning output topic name to /planning/trajectory (#602)

  • change planning output topic name to /planning/trajectory

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

• chore: bump version to 1.3.0 (#554)

• Contributors: Ryohsuke Mitsudome, Yukihiro Saito

1.3.0 (2025-06-23)

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

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

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