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## Bug report
**Required Info:**
- Operating System:
- Ubuntu 22.04 running in Docker Container
- ROS2 Version:
- Humble
- DDS implementation:
- CycloneDDS
#### Steps to reproduce …
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General improvements
- [ ] Add in some hand-crafted trajectories into the mix via https://arxiv.org/pdf/2401.09241 (i.e. drive to goal, stop, slow, fast, even other algorithms perhaps, etc with sampl…
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**Describe the bug**
When using nav2-mppi-controller with the current version of xtl (0.7.7), xtensor (0.24.7) and xsimd (11.2.0) dependencies, it has a weird behavior.
The behavior is described …
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- Operating System: Yocto based - on a Jetson Nano
- ROS2 Version: Humble (yocto recipes)
- Version or commit hash: 1.1.14
- DDS implementation: CycloneDDS
#### Steps to reproduce issue
I use…
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first line of https://github.com/ros-planning/navigation.ros.org/blob/master/configuration/packages/configuring-mppic.rst#general-words-of-wisdom strongly directs to never set `model_dt` > ` 1 / cont…
ARK3r updated
7 months ago
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## Bug report
The MPPI controller outputs a near zero cmd_vel after a dynamic param change.
It creates strange behavior where the robot slows down when changing its speed limit:
![mppi_zero_vel_aft…
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I am using an MPPI controller to drive a robot capable of traveling bidirectionally with equal efficiency. I want to have different values for acceleration and deceleration. To achieve this, I set the…
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To get an idea of the algorithm I have implemented it and tried on the pole-cart problem.
This is the result: https://youtu.be/TQnbzJ7scFs
@marco-tognon-robotics @JenJenChung
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Dear author,
Hello! I have a question for the part of "halton-spline", the code in mppi.py is shown as below.
```python
elif self.mppi_mode == 'halton-spline':
# shift command 1 time step…