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