Pure Pursuit (simulink) error :' Expected waypoints to be an array with number of columns equal to 2. '

Good morning,

I'm trying to give to the PurePursuit simulink block a matrix n-by-2 in which the two columns are vectors x and y, the waypoints of a trajectory, but it continues to give me this error.

Can anyone tell me what the problem could be?

Thanks in advance.

[Ajay Pattassery]

Could you confirm whether the waypoints are nx2 by verifying

width(waypoints) == 2

If it is true, please share a minimal working simulink example to inspect.

Answer 1

[Ajay Pattassery]

This example demonstrates how to execute an obstacle-free path between two locations on a given map in Simulink. The example provide waypoints as an nx2 matrix.

Let us know if the issue still exist. If it exists share the actual error message and preferably a minimal simulink example to inspect.

Answer 2

[Joshua Tashbar]

Hi.

I am having this same problem with the PurePursuit simulink block.

The error is below

I also attached a minimally working Simulink file (Version:R2023a).

Thank you

Josh