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artofnothingness / mppic

MIT License
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to use log mppi with nav2 #113

Closed er1c-cartman closed 4 months ago

er1c-cartman commented 4 months ago

Hi Yeah i mean to use log-mppi in nav2, specially in humble edition, i've changed noise part But due to the log-mppi from ros1, https://github.com/IhabMohamed/log-MPPI_ros/blob/main/mppi_control/launch/mppi_launcher.launch, i should change the std part and lambda part

The thing i want to ask you is when using log-mppi in ros2 humble with nav2, i guess i have to change the parameters of these

vx_std: 0.5 vy_std: 0.5 wz_std: 0.8 temperature: 0.25

but i don't have any idea to well form the parameter values Ant suggestions?

Best regards

SteveMacenski commented 4 months ago

There's no log mppi support here or in nav2. I can't speak to Ihab's repo, that's another project as part of his academic research.

Funny enough though, today I was vaguely looking at it but didn't have a good experience to share with you.