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SteveMacenski merged 1 commit into from
Apr 4, 2025
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Update configuring-mppic.rst #667

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11 changes: 11 additions & 0 deletions configuration/packages/configuring-mppic.rst
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Expand Up @@ -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:

============== ===========================
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