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When the tracking process is over, what makes it stop? I use waypoint_ Loader, in pure_pursuit Using dialog I appreciate it if you have any idea.


Originally posted by liuliuliu on ROS Answers with karma: 5 on 2021-06-14

Post score: 0


Original comments

Comment by Josh Whitley on 2021-06-17:
I'm not sure I understand your question. Tracking is used to track the movement of objects.

Comment by liuliuliu on 2021-06-17:
Sorry, the words are not accurate. I want to know Stop condition of pure_ pursuit algorithm In autoware

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pure_pursuit only controls lateral movement - not longitudinal - so it does not cause the vehicle to stop. velocity_set is a node which typically causes the vehicle to stop and the conditions depend on your parameter settings. However, in general, velocity_set looks for lidar points within a certain sphere around each waypoint. If the number of lidar points within that sphere exceeds a threshold (set in your parameter settings) then it reduces the velocity to 0 before that waypoint.


Originally posted by Josh Whitley with karma: 1766 on 2021-06-21

This answer was ACCEPTED on the original site

Post score: 1

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