ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Mamoru Sobue
- Yuki Takagi
Authors
- Takamasa Horibe
- Maxime CLEMENT
- Takayuki Murooka
PID Longitudinal Controller
Purpose / Use cases
The longitudinal_controller computes the target acceleration to achieve the target velocity set at each point of the target trajectory using a feed-forward/back control.
It also contains a slope force correction that takes into account road slope information, and a delay compensation function. It is assumed that the target acceleration calculated here will be properly realized by the vehicle interface.
Note that the use of this module is not mandatory for Autoware if the vehicle supports the “target speed” interface.
Design / Inner-workings / Algorithms
States
This module has four state transitions as shown below in order to handle special processing in a specific situation.
-
DRIVE
- Executes target velocity tracking by PID control.
- It also applies the delay compensation and slope compensation.
-
STOPPING
- Controls the motion just before stopping.
- Special sequence is performed to achieve accurate and smooth stopping.
-
STOPPED
- Performs operations in the stopped state (e.g. brake hold)
-
EMERGENCY.
- Enters an emergency state when certain conditions are met (e.g., when the vehicle has crossed a certain distance of a stop line).
- The recovery condition (whether or not to keep emergency state until the vehicle completely stops) or the deceleration in the emergency state are defined by parameters.
The state transition diagram is shown below.
Logics
Control Block Diagram
FeedForward (FF)
The reference acceleration set in the trajectory and slope compensation terms are output as a feedforward. Under ideal conditions with no modeling error, this FF term alone should be sufficient for velocity tracking.
Tracking errors causing modeling or discretization errors are removed by the feedback control (now using PID).
Brake keeping
From the viewpoint of ride comfort, stopping with 0 acceleration is important because it reduces the impact of braking. However, if the target acceleration when stopping is 0, the vehicle may cross over the stop line or accelerate a little in front of the stop line due to vehicle model error or gradient estimation error.
For reliable stopping, the target acceleration calculated by the FeedForward system is limited to a negative acceleration when stopping.
Slope compensation
Based on the slope information, a compensation term is added to the target acceleration.
There are two sources of the slope information, which can be switched by a parameter.
- Pitch of the estimated ego-pose (default)
- Calculates the current slope from the pitch angle of the estimated ego-pose
- Pros: Easily available
- Cons: Cannot extract accurate slope information due to the influence of vehicle vibration.
- Z coordinate on the trajectory
- Calculates the road slope from the difference of z-coordinates between the front and rear wheel positions in the target trajectory
- Pros: More accurate than pitch information, if the z-coordinates of the route are properly maintained
- Pros: Can be used in combination with delay compensation (not yet implemented)
- Cons: z-coordinates of high-precision map is needed.
- Cons: Does not support free space planning (for now)
We also offer the options to switch between these, depending on driving conditions.
Notation: This function works correctly only in a vehicle system that does not have acceleration feedback in the low-level control system.
This compensation adds gravity correction to the target acceleration, resulting in an output value that is no longer equal to the target acceleration that the autonomous driving system desires. Therefore, it conflicts with the role of the acceleration feedback in the low-level controller.
For instance, if the vehicle is attempting to start with an acceleration of 1.0 m/s^2 and a gravity correction of -1.0 m/s^2 is applied, the output value will be 0. If this output value is mistakenly treated as the target acceleration, the vehicle will not start.
A suitable example of a vehicle system for the slope compensation function is one in which the output acceleration from the longitudinal_controller is converted into target accel/brake pedal input without any feedbacks. In this case, the output acceleration is just used as a feedforward term to calculate the target pedal, and hence the issue mentioned above does not arise.
Note: The angle of the slope is defined as positive for an uphill slope, while the pitch angle of the ego pose is defined as negative when facing upward. They have an opposite definition.
PID control
For deviations that cannot be handled by FeedForward control, such as model errors, PID control is used to construct a feedback system.
This PID control calculates the target acceleration from the deviation between the current ego-velocity and the target velocity.
This PID logic has a maximum value for the output of each term. This is to prevent the following:
- Large integral terms may cause unintended behavior by users.
- Unintended noise may cause the output of the derivative term to be very large.
Note: by default, the integral term in the control system is not accumulated when the vehicle is stationary. This precautionary measure aims to prevent unintended accumulation of the integral term in scenarios where Autoware assumes the vehicle is engaged, but an external system has immobilized the vehicle to initiate startup procedures.
However, certain situations may arise, such as when the vehicle encounters a depression in the road surface during startup or if the slope compensation is inaccurately estimated (lower than necessary), leading to a failure to initiate motion. To address these scenarios, it is possible to activate error integration even when the vehicle is at rest by setting the enable_integration_at_low_speed parameter to true.
When enable_integration_at_low_speed is set to true, the PID controller will initiate integration of the acceleration error after a specified duration defined by the time_threshold_before_pid_integration parameter has elapsed without the vehicle surpassing a minimum velocity set by the current_vel_threshold_pid_integration parameter.
The presence of the time_threshold_before_pid_integration parameter is important for practical PID tuning. Integrating the error when the vehicle is stationary or at low speed can complicate PID tuning. This parameter effectively introduces a delay before the integral part becomes active, preventing it from kicking in immediately. This delay allows for more controlled and effective tuning of the PID controller.
At present, PID control is implemented from the viewpoint of trade-off between development/maintenance cost and performance. This may be replaced by a higher performance controller (adaptive control or robust control) in future development.
Time delay compensation
At high speeds, the delay of actuator systems such as gas pedals and brakes has a significant impact on driving accuracy. Depending on the actuating principle of the vehicle, the mechanism that physically controls the gas pedal and brake typically has a delay of about a hundred millisecond.
In this controller, the predicted ego-velocity and the target velocity after the delay time are calculated and used for the feedback to address the time delay problem.
Slope compensation
Based on the slope information, a compensation term is added to the target acceleration.
There are two sources of the slope information, which can be switched by a parameter.
- Pitch of the estimated ego-pose (default)
- Calculates the current slope from the pitch angle of the estimated ego-pose
- Pros: Easily available
- Cons: Cannot extract accurate slope information due to the influence of vehicle vibration.
- Z coordinate on the trajectory
- Calculates the road slope from the difference of z-coordinates between the front and rear wheel positions in the target trajectory
- Pros: More accurate than pitch information, if the z-coordinates of the route are properly maintained
- Pros: Can be used in combination with delay compensation (not yet implemented)
- Cons: z-coordinates of high-precision map is needed.
- Cons: Does not support free space planning (for now)
Assumptions / Known limits
- Smoothed target velocity and its acceleration shall be set in the trajectory
- The velocity command is not smoothed inside the controller (only noise may be removed).
- For step-like target signal, tracking is performed as fast as possible.
- The vehicle velocity must be an appropriate value
- The ego-velocity must be a signed-value corresponding to the forward/backward direction
- The ego-velocity should be given with appropriate noise processing.
- If there is a large amount of noise in the ego-velocity, the tracking performance will be significantly reduced.
- The output of this controller must be achieved by later modules (e.g. vehicle interface).
- If the vehicle interface does not have the target velocity or acceleration interface (e.g., the vehicle only has a gas pedal and brake interface), an appropriate conversion must be done after this controller.
Inputs / Outputs / API
Input
Set the following from the controller_node
-
autoware_planning_msgs/Trajectory: reference trajectory to follow. -
nav_msgs/Odometry: current odometry
Output
Return LongitudinalOutput which contains the following to the controller node
-
autoware_control_msgs/Longitudinal: command to control the longitudinal motion of the vehicle. It contains the target velocity and target acceleration. - LongitudinalSyncData
- velocity convergence(currently not used)
PIDController class
The PIDController class is straightforward to use.
First, gains and limits must be set (using setGains() and setLimits()) for the proportional (P), integral (I), and derivative (D) components.
Then, the velocity can be calculated by providing the current error and time step duration to the calculate() function.
Parameter description
The default parameters defined in param/lateral_controller_defaults.param.yaml are adjusted to the
AutonomouStuff Lexus RX 450h for under 40 km/h driving.
| Name | Type | Description | Default value |
|---|---|---|---|
| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 |
| enable_smooth_stop | bool | flag to enable transition to STOPPING | true |
| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See emergency_state_overshoot_stop_dist. |
true |
| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true |
| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See use_trajectory_for_pitch_calculation. |
true |
| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See Brake keeping. | false |
| enable_keep_stopped_until_steer_convergence | bool | flag to keep stopped condition until until the steer converges. | true |
| max_acc | double | max value of output acceleration [m/s^2] | 3.0 |
| min_acc | double | min value of output acceleration [m/s^2] | -5.0 |
| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 |
| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 |
| use_trajectory_for_pitch_calculation | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false |
| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 |
| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 |
| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 |
State transition
| Name | Type | Description | Default value |
|---|---|---|---|
| drive_state_stop_dist | double | The state will transit to DRIVE when the distance to the stop point is longer than drive_state_stop_dist + drive_state_offset_stop_dist [m] |
0.5 |
| drive_state_offset_stop_dist | double | The state will transit to DRIVE when the distance to the stop point is longer than drive_state_stop_dist + drive_state_offset_stop_dist [m] |
1.0 |
| stopping_state_stop_dist | double | The state will transit to STOPPING when the distance to the stop point is shorter than stopping_state_stop_dist [m] |
0.5 |
| stopped_state_entry_vel | double | threshold of the ego velocity in transition to the STOPPED state [m/s] | 0.01 |
| stopped_state_entry_acc | double | threshold of the ego acceleration in transition to the STOPPED state [m/s^2] | 0.1 |
| emergency_state_overshoot_stop_dist | double | If enable_overshoot_emergency is true and the ego is emergency_state_overshoot_stop_dist-meter ahead of the stop point, the state will transit to EMERGENCY. [m] |
1.5 |
DRIVE Parameter
| Name | Type | Description | Default value |
|---|---|---|---|
| kp | double | p gain for longitudinal control | 1.0 |
| ki | double | i gain for longitudinal control | 0.1 |
| kd | double | d gain for longitudinal control | 0.0 |
| max_out | double | max value of PID’s output acceleration during DRIVE state [m/s^2] | 1.0 |
| min_out | double | min value of PID’s output acceleration during DRIVE state [m/s^2] | -1.0 |
| max_p_effort | double | max value of acceleration with p gain | 1.0 |
| min_p_effort | double | min value of acceleration with p gain | -1.0 |
| max_i_effort | double | max value of acceleration with i gain | 0.3 |
| min_i_effort | double | min value of acceleration with i gain | -0.3 |
| max_d_effort | double | max value of acceleration with d gain | 0.0 |
| min_d_effort | double | min value of acceleration with d gain | 0.0 |
| lpf_vel_error_gain | double | gain of low-pass filter for velocity error | 0.9 |
| enable_integration_at_low_speed | bool | Whether to enable integration of acceleration errors when the vehicle speed is lower than current_vel_threshold_pid_integration or not. |
false |
| current_vel_threshold_pid_integration | double | Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s] | 0.5 |
| time_threshold_before_pid_integration | double | How much time without the vehicle moving must past to enable PID error integration. [s] | 5.0 |
| brake_keeping_acc | double | If enable_brake_keeping_before_stop is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See Brake keeping. |
0.2 |
STOPPING Parameter (smooth stop)
Smooth stop is enabled if enable_smooth_stop is true.
In smooth stop, strong acceleration (strong_acc) will be output first to decrease the ego velocity.
Then weak acceleration (weak_acc) will be output to stop smoothly by decreasing the ego jerk.
If the ego does not stop in a certain time or some-meter over the stop point, weak acceleration to stop right (weak_stop_acc) now will be output.
If the ego is still running, strong acceleration (strong_stop_acc) to stop right now will be output.
| Name | Type | Description | Default value |
|---|---|---|---|
| smooth_stop_max_strong_acc | double | max strong acceleration [m/s^2] | -0.5 |
| smooth_stop_min_strong_acc | double | min strong acceleration [m/s^2] | -0.8 |
| smooth_stop_weak_acc | double | weak acceleration [m/s^2] | -0.3 |
| smooth_stop_weak_stop_acc | double | weak acceleration to stop right now [m/s^2] | -0.8 |
| smooth_stop_strong_stop_acc | double | strong acceleration to be output when the ego is smooth_stop_strong_stop_dist-meter over the stop point. [m/s^2] |
-3.4 |
| smooth_stop_max_fast_vel | double | max fast vel to judge the ego is running fast [m/s]. If the ego is running fast, strong acceleration will be output. | 0.5 |
| smooth_stop_min_running_vel | double | min ego velocity to judge if the ego is running or not [m/s] | 0.01 |
| smooth_stop_min_running_acc | double | min ego acceleration to judge if the ego is running or not [m/s^2] | 0.01 |
| smooth_stop_weak_stop_time | double | max time to output weak acceleration [s]. After this, strong acceleration will be output. | 0.8 |
| smooth_stop_weak_stop_dist | double | Weak acceleration will be output when the ego is smooth_stop_weak_stop_dist-meter before the stop point. [m] |
-0.3 |
| smooth_stop_strong_stop_dist | double | Strong acceleration will be output when the ego is smooth_stop_strong_stop_dist-meter over the stop point. [m] |
-0.5 |
STOPPED Parameter
The STOPPED state assumes that the vehicle is completely stopped with the brakes fully applied.
Therefore, stopped_acc should be set to a value that allows the vehicle to apply the strongest possible brake.
If stopped_acc is not sufficiently low, there is a possibility of sliding down on steep slopes.
| Name | Type | Description | Default value |
|---|---|---|---|
| stopped_vel | double | target velocity in STOPPED state [m/s] | 0.0 |
| stopped_acc | double | target acceleration in STOPPED state [m/s^2] | -3.4 |
| stopped_jerk | double | target jerk in STOPPED state [m/s^3] | -5.0 |
EMERGENCY Parameter
| Name | Type | Description | Default value |
|---|---|---|---|
| emergency_vel | double | target velocity in EMERGENCY state [m/s] | 0.0 |
| emergency_acc | double | target acceleration in an EMERGENCY state [m/s^2] | -5.0 |
| emergency_jerk | double | target jerk in an EMERGENCY state [m/s^3] | -3.0 |
References / External links
Future extensions / Unimplemented parts
Related issues
Changelog for package autoware_pid_longitudinal_controller
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- fix: add missing includes to autoware_universe_utils (#10091)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix: remove unnecessary parameters (#9935)
- feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9848) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_pid_longitudinal_controller
- feat(pid_longitudinal_controller): add new slope compensation mode trajectory_goal_adaptive (#9705)
- feat(pid_longitudinal_controller): add virtual wall for dry
steering and emergency
(#9685)
- feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency
* fix
- feat(pid_longitudinal_controller): remove trans/rot deviation
validation since the control_validator has the same feature
(#9675)
- feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature
* fix test ---------
- feat(pid_longitudinal_controller): add smooth_stop mode in debug_values (#9681)
- feat(pid_longitudinal_controller): update trajectory_adaptive; add debug_values, adopt rate limit fillter (#9656)
- fix(autoware_pid_longitudinal_controller): fix bugprone-branch-clone (#9629) fix: bugprone-branch-clone
- Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan, Yuki TAKAGI, kobayu858
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - control (#9565)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- feat(pid_longitudinal_controller): suppress rclcpp_warning/error
(#9384)
- feat(pid_longitudinal_controller): suppress rclcpp_warning/error
* update codeowner ---------
- feat(trajectory_follower): publsih control horzion
(#8977)
- feat(trajectory_follower): publsih control horzion
- fix typo
- rename functions and minor refactor
- add option to enable horizon pub
- add tests for horizon
- update docs
* rename to ~/debug/control_cmd_horizon ---------
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- fix(pid_longitudinal_controller): fix the same point error
(#8758)
- fix same point
- feat(pid_longitudinal_controller)!: add acceleration feedback block (#8325)
- refactor(control/pid_longitudinal_controller): rework parameters
(#6707)
- reset and re-apply refactoring
- style(pre-commit): autofix
- .
* .
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (#7718) change diff limit structure change stopped condition define a new param
- fix(controller): revival of dry steering
(#7903)
* Revert "fix(autoware_mpc_lateral_controller): delete the zero
speed constraint
(#7673)"
This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f.
- dry steering
- add comments
* add minor fix and modify unit test for dry steering ---------
- fix(autoware_pid_longitudinal_controller,
autoware_trajectory_follower_node): unite diagnostic_updater_
in PID and MPC.
(#7674)
- diag_updater_ added in PID
- correct the pointer form
* pre-commit ---------
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(control)!: refactor directory structures of the trajectory
followers
(#7521)
- control_traj
- add follower_node
* fix
- ci(pre-commit): autoupdate (#7499) Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>
- refactor(trajectory_follower_node): trajectory follower node add
autoware prefix
(#7344)
- rename trajectory follower node package
- update dependencies, launch files, and README files
- fix formats
* remove autoware_ prefix from launch arg option ---------
- refactor(trajectory_follower_base): trajectory follower base add
autoware prefix
(#7343)
- rename trajectory follower base package
- update dependencies and includes
* fix formats ---------
- refactor(vehicle_info_utils)!: prefix package and namespace with
autoware
(#7353)
- chore(autoware_vehicle_info_utils): rename header
- chore(bpp-common): vehicle info
- chore(path_optimizer): vehicle info
- chore(velocity_smoother): vehicle info
- chore(bvp-common): vehicle info
- chore(static_centerline_generator): vehicle info
- chore(obstacle_cruise_planner): vehicle info
- chore(obstacle_velocity_limiter): vehicle info
- chore(mission_planner): vehicle info
- chore(obstacle_stop_planner): vehicle info
- chore(planning_validator): vehicle info
- chore(surround_obstacle_checker): vehicle info
- chore(goal_planner): vehicle info
- chore(start_planner): vehicle info
- chore(control_performance_analysis): vehicle info
- chore(lane_departure_checker): vehicle info
- chore(predicted_path_checker): vehicle info
- chore(vehicle_cmd_gate): vehicle info
- chore(obstacle_collision_checker): vehicle info
- chore(operation_mode_transition_manager): vehicle info
- chore(mpc): vehicle info
- chore(control): vehicle info
- chore(common): vehicle info
- chore(perception): vehicle info
- chore(evaluator): vehicle info
- chore(freespace): vehicle info
- chore(planning): vehicle info
- chore(vehicle): vehicle info
- chore(simulator): vehicle info
- chore(launch): vehicle info
- chore(system): vehicle info
- chore(sensing): vehicle info
* fix(autoware_joy_controller): remove unused deps ---------
- refactor(pid_longitudinal_controller)!: prefix package and
namespace with autoware
(#7383)
- add prefix
- fix
* fix trajectory follower node param ---------
- Contributors: Esteve Fernandez, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, awf-autoware-bot[bot], mkquda, oguzkaganozt
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| autoware_trajectory_follower_node |