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This package is a thin boiler-plate package that connects computation (pure_pursuit) and communication (DDS/ROS 2).
This is necessary to make it easy to test the computation in isolation from communication. Likewise, this package separates out the integration/communication tests for this package.
This is a thin wrapper around pure_pursuit.
The current pose is transformed using the corresponding tf
topic, and then compute the control command.
This node assumes the global tf
graph has a transformation between trajectory and pose frames.
See apex_tf
for more details on the limitations of the transforms API.
See the PurePursuit design doc for more details.
Inputs:
tf
topic: source frame is pose and target frame is trajectory (through apex_tf
)Outputs:
On top of this, the nodes can be configured either programmatically or via parameter file on construction.
See pure_pursuit
for more details.
Most error handling occurs inside rclcpp
, inside the PurePursuit
itself, or in the associated configuration class.
These components inherit security considerations from Node
, BufferCore
, and the core PurePursuit
class.
tf
internal library for the pose transformationtf
topic should be deterministic.