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
| 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
| Name |
Type |
Description |
Default |
Range |
| lookahead_gain |
float |
Gain for lookahead distance calculation: {lookahead distance} = lookahead_gain * {target velocity} + lookahead_min_distance |
1 |
≥0.0 |
| lookahead_min_distance |
float |
Minimum lookahead distance [m] |
1 |
≥0.0 |
| speed_proportional_gain |
float |
Gain for longitudinal acceleration calculation: {longitudinal acceleration} = speed_proportional_gain * ({target velocity} - {current velocity}) |
1 |
≥0.0 |
| use_external_target_vel |
boolean |
Whether to use external target velocity |
0 |
N/A |
| external_target_vel |
float |
External target velocity [m/s] |
1 |
≥0.0 |