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)

1.9.0 (2026-06-24)

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

• feat: [codecov/refactoring] [simple_pure_pursuit] isolation of core logics, and full revamp of unit tests (#1182)

  • init simpupu core logics module with Apache license
  • init simpupu core logics module with Apache license
  • init simpupu core logics header with Apache license
  • defined simpupu params struct
  • define public funcs
  • defined private funcs and entities for core logics
  • implement simple pure pursuit constructor and param setter
  • isolate create_control_command's core logics from the mess of ROS2+core logics in original node module
  • isolatecalc_longitudinal_control the same way
  • isolate calc_lateral_coltrol the same way
  • modified calc_lateral_control as for now completely immitates the original func (after discussing with the team)
  • refactored the simpupu main header - removing all core logics, leaving only ROS-related
  • refactored the simpupu main module - same way as headers - only ROS2 related + core logics inference
  • quick fixes based for clang compiler suggests
  • adapt cmakelists, package xml and header of core logics, thus wrapping up step 2
  • test_simple_pure_pursuit.cpp - first make it work on build
  • removed the old test cases in unit test module because the old ones are bundled and obsoleted with new architecture
  • added test 1 of perfectly normal case ahppy tracking
  • added test 2 of strong terminal brake at trajectory goal
  • added test 3 of strong terminal brake when trajectory is wayyyyyyyy too short
  • added test 4 of overriding with external target velocity
  • adeed test 5 of lateral offset correcting
  • added test 6 of lookahead distance clamping (the current calc logic is weird so I had to resort to infinity check)
  • added final branch coverage case of lookahead point search exceeding trajectory length case
  • some final touchups, all good I guess
  • style(pre-commit): autofix
  • deal with spell-check-differential
  • fixed that cpplink precommit test of you dont need a ; after a } thingy
  • style(pre-commit): autofix
  • fixed that cpplint precommit of Add #include <memory> for make_unique<> [build/include_what_you_use]
  • change all to (yeah lol right, tbf I've used English for too long to the point of not thinking twice about plural single forms of these words
  • style(pre-commit): autofix
  • refactoring the file/class names as Ishikawa-san suggested
  • style(pre-commit): autofix
  • bring trajectory fallback to core logics
  • prevent node to return early upon false validation
  • dropping set_params() for ummitability
  • successful build
  • rebased, gonna add the precommit lint locally later
  • style(pre-commit): autofix
  • rebase
  • style(pre-commit): autofix
  • fixed spellcheck differentials
  • unified namespaces

  * Update control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp Co-authored-by: Takayuki AKAMINE <<38586589+takam5f2@users.noreply.github.com>>

  • [akamine] redundant function set_params() at header
  • [akamine] remove branch redundancy in clongitudinal control command core logic
  • [akamine] name the magic number -10.0 as terminal_brake_accel at simple_pure_pursuit logic header and apply it to whole node
  • [akamine] fix typo EXCEPT=>EXPECT
  • [akamine] fix class name in docstring

  * [akamine] node name inconsistency fix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki AKAMINE <<38586589+takam5f2@users.noreply.github.com>>

• feat: [codecod/refactoring] [simple_pure_pursuit] implement characterization test (#1179)

  • init characterization test for simple pure pursuit node with Apache license
  • include generic dependencies
  • declare naemspace structures
  • added a dummy odometry generator
  • added a dummy trajectory generator

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