– Pure Pursuit


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Additional information

Version 0.0.4-x86_64
Input ports
  • Final Waypoints (autoware_msgs/Lane)
  • Current Pose (geometry_msgs/PoseStamped)
  • Current Velocity (geometry_msgs/TwistStamped)
Output Ports
  • Twist Raw (geometry_msgs/TwistStamped)
  • Raw Control Command (autoware_msgs/ControlCommandStamped)
  • Next Waypoint Marker (visualization_msgs/Marker)
  • Next Target Marker (visualization_msgs/Marker)
  • Search Circle Marker (visualization_msgs/Marker)
  • Line Points Marker (visualization_msgs/Marker)
  • Trajectory Circle Marker (visualization_msgs/Marker)
  • Angular Gravity (std_msgs/Float32)
  • Deviation from Current Position (std_msgs/Float32)
  • Expanded Waypoints Marker (visualization_msgs/Marker)
  • Add Virtual End Waypoints
  • Constant Lookahead Distance
  • Constant Velocity
  • Linear Interpolation
  • Lookahead Ratio
  • Minimum Lookahead Distance
  • Publish Steering
  • Velocity Source


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