easynav_mppi_controller

Easy Navigation: MPPI Controller package.

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README

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

• Authors: Intelligent Robotics Lab

• Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

• Plugin Name: easynav_mppi_controller/MPPIController

• Type: easynav::MPPIController

• Base Class: easynav::ControllerMethodBase

• Library: easynav_mppi_controller

• Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Name	Type	Default	Description
<plugin>.num_samples	int	100	Number of trajectory rollouts per iteration.
<plugin>.horizon_steps	int	10	Number of time steps in the prediction horizon.
<plugin>.dt	double	0.1	Integration time step (seconds).
<plugin>.lambda	double	0.1	Temperature / control noise scaling factor.
<plugin>.max_linear_velocity	double	1.0	Maximum linear velocity (m/s).
<plugin>.max_angular_velocity	double	1.0	Maximum angular velocity (rad/s).
<plugin>.max_linear_acceleration	double	0.5	Maximum linear acceleration (m/s²).
<plugin>.max_angular_acceleration	double	1.0	Maximum angular acceleration (rad/s²).
<plugin>.fov	double	M_PI/2.0	Field of view used in trajectory sampling (radians).
<plugin>.safety_radius	double	0.6	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	/mppi/candidates	visualization_msgs/msg/MarkerArray	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	/mppi/optimal_path	visualization_msgs/msg/MarkerArray	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
path	nav_msgs::msg::Path	Read	Target path to track.
robot_pose	nav_msgs::msg::Odometry	Read	Current robot pose/state.
points	PointPerceptions	Read	Perception point cloud(s) used for costs.
cmd_vel	geometry_msgs::msg::TwistStamped	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0