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easynav_mppi_controller

Description

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

Authors and Maintainers

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy jazzy
kilted kilted
rolling rolling

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