Class MPPIController

Inheritance Relationships

Base Type

  • public nav2_core::Controller

Class Documentation

class MPPIController : public nav2_core::Controller

Public Functions

MPPIController() = default

Constructor for mppi::MPPIController.

void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, const std::shared_ptr<tf2_ros::Buffer> tf, const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override

Configure controller on bringup.

Parameters:

  • parent – WeakPtr to node

  • name – Name of plugin

  • tf – TF buffer to use

  • costmap_ros – Costmap2DROS object of environment

void cleanup() override

Cleanup resources.

void activate() override

Activate controller.

void deactivate() override

Deactivate controller.

void reset() override

Reset the controller state between tasks.

geometry_msgs::msg::TwistStamped computeVelocityCommands(const geometry_msgs::msg::PoseStamped &robot_pose, const geometry_msgs::msg::Twist &robot_speed, nav2_core::GoalChecker *goal_checker) override

Main method to compute velocities using the optimizer.

Parameters:

  • robot_pose – Robot pose

  • robot_speed – Robot speed

  • goal_checker – Pointer to the goal checker for awareness if completed task

void setPlan(const nav_msgs::msg::Path &path) override

Set new reference path to track.

Parameters:

path – Path to track

void setSpeedLimit(const double &speed_limit, const bool &percentage) override

Set new speed limit from callback.

Parameters:

  • speed_limit – Speed limit to use

  • percentage – Bool if the speed limit is absolute or relative

Protected Functions

void visualize(nav_msgs::msg::Path transformed_plan, const builtin_interfaces::msg::Time &cmd_stamp)

Visualize trajectories.

Parameters:

transformed_plan – Transformed input plan

Protected Attributes

std::string name_
rclcpp_lifecycle::LifecycleNode::WeakPtr parent_
rclcpp::Logger logger_ = {rclcpp::get_logger("MPPIController")}
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_
std::shared_ptr<tf2_ros::Buffer> tf_buffer_
std::unique_ptr<ParametersHandler> parameters_handler_
Optimizer optimizer_
PathHandler path_handler_
TrajectoryVisualizer trajectory_visualizer_
bool visualize_