nav2_mppi_controller - ARM (Jetson NANO) Issue? [component_container_isolated-1]: process has died

Bug report

Required Info:

Operating System:
- Ubuntu 22.04
ROS2 Version:
- ROS2 Humble
Version or commit hash:
- ros-humble-navigation2 1.1.15-1jammy.20240530.141947
DDS implementation:
- rmw_cyclonedds_cpp

Steps to reproduce issue

When I run my navigation on my laptop (higher performance), everything works great. I am very happy with the way the robot navigates, no problems.

I wanted to deploy the navigation on my Jetson Nano (On the Robot) running a docker with ros2 humble with noVNC but I can't launch my navigation, everything is exactly the same as on my laptop -> ros2_ws, packages, ...

If I use the standard nav_2 params, the navigation starts. If I use the MPPI controller -> ERROR

  ros__parameters:
    controller_frequency: 20.0
    FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 56
      model_dt: 0.05
      batch_size: 2000
      vx_std: 0.2
      vy_std: 0.2
      wz_std: 0.4
      vx_max: 0.5
      vx_min: -0.35
      vy_max: 0.5
      #vy_min: -0.35
      wz_max: 1.9
      iteration_count: 1
      prune_distance: 1.7
      transform_tolerance: 0.1
      temperature: 0.3
      gamma: 0.015
      motion_model: "Omni"
      visualize: false
      reset_period: 1.0 # (only in Humble)
      regenerate_noises: false
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.2
      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: false
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      # ObstaclesCritic:
      #   enabled: true
      #   cost_power: 1
      #   repulsion_weight: 1.5
      #   critical_weight: 20.0
      #   consider_footprint: false
      #   collision_cost: 10000.0
      #   collision_margin_distance: 0.1
      #   near_goal_distance: 0.5
      #   inflation_radius: 0.55 # (only in Humble)
      #   cost_scaling_factor: 10.0 # (only in Humble)
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        critical_cost: 300.0
        consider_footprint: true
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 14.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.5
        offset_from_furthest: 20
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        mode: 0
      # VelocityDeadbandCritic:
      #   enabled: true
      #   cost_power: 1
      #   cost_weight: 35.0
      #   deadband_velocities: [0.05, 0.05, 0.05]
      # TwirlingCritic:
      #   enabled: true
      #   twirling_cost_power: 1
      #   twirling_cost_weight: 10.0

Expected behavior

Start the navigation stack

Actual behavior

[component_container_isolated-1] [INFO] [1719995187.199859277] [controller_serve r]: Controller Server has goal_checker goal checkers available. [component_container_isolated-1] [INFO] [1719995187.203409310] [controller_serve r]: Created controller: FollowPath of type nav2_mppi_controller::MPPI Controller [ERROR] [component_container_isolated-1]: process has died [pid 7429, exit code -4, cmd /opt/ros/humble/lib/rclcpp_components/component_container_isolated --ro s-args log-level info --ros-args -r _node:=nav2_container --params-file /tmp/ launch_params_3v080w41 --params-file /tmp/launch_params_14fqz859 -r/tf:=tf -r / tf_static:=tf_static'].

ros-navigation / navigation2