Simple Trajectory Follower#
Purpose#
Provide a base trajectory follower code that is simple and flexible to use. This node calculates control command based on a reference trajectory and an ego vehicle kinematics.
Design#
Inputs / Outputs#
Inputs
input/reference_trajectory[autoware_auto_planning_msgs::msg::Trajectory] : reference trajectory to follow.input/current_kinematic_state[nav_msgs::msg::Odometry] : current state of the vehicle (position, velocity, etc).- Output
output/control_cmd[autoware_auto_control_msgs::msg::AckermannControlCommand] : generated control command.
Parameters#
| Name | Type | Description | Default value |
|---|---|---|---|
| use_external_target_vel | bool | use external target velocity defined by parameter when true, else follow the velocity on target trajectory points. | false |
| external_target_vel | float | target velocity used when use_external_target_vel is true. |
0.0 |
| lateral_deviation | float | target lateral deviation when following. | 0.0 |