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autoware_simple_pure_pursuit package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_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_localization_util autoware_stop_filter autoware_twist2accel autoware_core_map autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_ground_filter 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_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

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Package Summary

Tags No category tags.
Version 1.0.0
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 2025-04-04
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

The autoware_simple_pure_pursuit package

Additional Links

No additional links.

Maintainers

  • Yuki Takagi
  • Kosuke Takeuchi
  • Takayuki Murooka

Authors

No additional authors.
control/autoware_simple_pure_pursuit/README.md

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

Flowchart

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

1.0.0 (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.

Launch files

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