Ask Your Question

What is the stop condition of tracking

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

liuliuliu gravatar image

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.

edit retag flag offensive close merge delete


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

Josh Whitley gravatar image 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 gravatar image liuliuliu  ( 2021-06-17 20:26:14 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

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

Josh Whitley gravatar image

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


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

Seen: 77 times

Last updated: Jun 21 '21