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What is the stop condition of tracking

asked 2021-06-14 22:29:09 -0500

liuliuliu
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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.

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I'm not sure I understand your question. Tracking is used to track the movement of objects.

Josh Whitley ( 2021-06-17 07:20:08 -0500 )edit

Sorry, the words are not accurate. I want to know Stop condition of pure_ pursuit algorithm In autoware

liuliuliu ( 2021-06-17 20:26:14 -0500 )edit

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answered 2021-06-21 15:57:19 -0500

Josh Whitley

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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.

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Asked: 2021-06-14 22:29:09 -0500

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Last updated: Jun 21 '21

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