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Pure Pursuit Controller#

The Pure Pursuit Controller module calculates the steering angle for tracking a desired trajectory using the pure pursuit algorithm. This is used as a lateral controller plugin in the trajectory_follower_node.

Inputs#

Set the following from the controller_node

  • autoware_auto_planning_msgs/Trajectory : reference trajectory to follow.
  • nav_msgs/Odometry: current ego pose and velocity information

Outputs#

Return LateralOutput which contains the following to the controller node

  • autoware_auto_control_msgs/AckermannLateralCommand: target steering angle
  • LateralSyncData
    • steer angle convergence
  • autoware_auto_planning_msgs/Trajectory: predicted path for ego vehicle