From d7f8c900af8efb8f0ad2dfdd801c8da4110c55a8 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 4 Apr 2025 16:55:46 -0700 Subject: [PATCH] Update configuring-mppic.rst Signed-off-by: Steve Macenski --- configuration/packages/configuring-mppic.rst | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/configuration/packages/configuring-mppic.rst b/configuration/packages/configuring-mppic.rst index cd937dbdda..890f175a14 100644 --- a/configuration/packages/configuring-mppic.rst +++ b/configuration/packages/configuring-mppic.rst @@ -261,6 +261,17 @@ MPPI Parameters Description Whether to publish debugging trajectories for visualization. This can slow down the controller substantially (e.g. 1000 batches of 56 size every 30hz is a lot of data). +:publish_optimal_trajectory: + + ============== =========================== + Type Default + -------------- --------------------------- + bool false + ============== =========================== + + Description + Whether to publish the optimal trajectory (pose, velocity, timestamps of via points) computed by MPC for visualization, debugging, or injection by lower-level control systems and/or collision avoidance systems that need awarenes of future velocity commands and/or poses. + :retry_attempt_limit: ============== ===========================