The source project of this merge request has been removed.
[#17] fix pure_pursuit command velocity
requested to merge astuff/autoware.ai/core_planning:jz/upstream_pure_pursuit_command_velocity into master
The pure_pursuit node subscribes to /final_waypoints (type autoware_msgs::Lane). The first waypoint in /final_waypoint holds the ego-vehicle's current pose and twist. The code (inside package velocity_set) where the current pose/twist of ego-vehilce is prepended can be found at VelocitySetPath::setTemporalWaypoints(). So the actual command velocity for pure_pursuit should be the velocity of waypoint at index 1 instead of index 0 from the received /final_waypoints msgs.