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Signed-off-by: Takamasa Horibe <[email protected]>
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control/trajectory_follower_nodes/design/simple_trajectory_follower-design.md
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# Simple Trajectory Follower | ||
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## Purpose | ||
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Provide a base trajectory follower code that is simple and flexible to use. This node calculates control command based on a reference trajectory and an ego vehicle kinematics. | ||
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## Design | ||
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### Inputs / Outputs | ||
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Inputs | ||
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- `input/reference_trajectory` [autoware_auto_planning_msgs::msg::Trajectory] : reference trajectory to follow. | ||
- `input/current_kinematic_state` [nav_msgs::msg::Odometry] : current state of the vehicle (position, velocity, etc). | ||
- Output | ||
- `output/control_cmd` [autoware_auto_control_msgs::msg::AckermannControlCommand] : generated control command. | ||
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### Parameters | ||
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| Name | Type | Description | Default value | | ||
| :---------------------- | :---- | :----------------------------------------------------------------------------------------------------------------- | :------------ | | ||
| use_external_target_vel | bool | use external target velocity defined by parameter when true, else follow the velocity on target trajectory points. | false | | ||
| external_target_vel | float | target velocity used when `use_external_target_vel` is true. | 0.0 | | ||
| lateral_deviation | float | target lateral deviation when following. | 0.0 | |
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