Document update for open_loop option in MPPI controller#797
Merged
SteveMacenski merged 2 commits intoros-navigation:masterfrom Oct 22, 2025
Merged
Document update for open_loop option in MPPI controller#797SteveMacenski merged 2 commits intoros-navigation:masterfrom
SteveMacenski merged 2 commits intoros-navigation:masterfrom
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Signed-off-by: Chanh Hoang <chanhhoang999x@gmail.com>
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SteveMacenski
requested changes
Oct 21, 2025
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| Description | ||
| Whether to use last command velocity or use wheel's odometry for MPPI initial state estimation. When enable, use last command velocity for MPPI initial state estimation. |
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| Whether to use last command velocity or use wheel's odometry for MPPI initial state estimation. When enable, use last command velocity for MPPI initial state estimation. | |
| Whether to use last command velocity or use odometry for MPPI initial state estimation. When enable, use last command velocity for MPPI initial state estimation. |
| The tutorial for the Following Server has been recently updated. For the latest instructions and examples, see :ref:`navigation2-dynamic-point-following`. | ||
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| Option for MPPI to use open loop mode | ||
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| In `PR #5617 <https://github.com/ros-navigation/navigation2/pull/5617>`_,add new option to have open loop for MPPI. | ||
| Now it have 1 more option to use last command velocity for initial state estimation instead of wheel's odometry. |
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Suggested change
| Now it have 1 more option to use last command velocity for initial state estimation instead of wheel's odometry. | |
| Now it have 1 more option to use last command velocity for initial state estimation instead of odometry. |
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| In `PR #5617 <https://github.com/ros-navigation/navigation2/pull/5617>`_,add new option to have open loop for MPPI. | ||
| Now it have 1 more option to use last command velocity for initial state estimation instead of wheel's odometry. | ||
| Useful when using low accelerations or when wheel odometry's latency(motor response is poor) causes issues in MPPI initial state estimation. |
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Suggested change
| Useful when using low accelerations or when wheel odometry's latency(motor response is poor) causes issues in MPPI initial state estimation. | |
| Useful when using low accelerations or when wheel odometry's latency (motor response is poor) causes issues in MPPI initial state estimation. |
Signed-off-by: Chanh Hoang <chanhhoang999x@gmail.com>
SteveMacenski
approved these changes
Oct 22, 2025
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