From f4c5f3995d885e85825fef6cad9b2ed887c8563f Mon Sep 17 00:00:00 2001 From: Chanh Hoang Date: Tue, 21 Oct 2025 11:01:05 +0700 Subject: [PATCH 1/2] Document update for open_loop option in MPPI controller Signed-off-by: Chanh Hoang --- configuration/packages/configuring-mppic.rst | 11 +++++++++++ migration/Kilted.rst | 11 +++++++++++ 2 files changed, 22 insertions(+) diff --git a/configuration/packages/configuring-mppic.rst b/configuration/packages/configuring-mppic.rst index 760c888dad..160a0ef5f5 100644 --- a/configuration/packages/configuring-mppic.rst +++ b/configuration/packages/configuring-mppic.rst @@ -316,6 +316,17 @@ MPPI Parameters Description Whether to publish statistics about each critic's performance. When enabled, publishes a ``nav2_msgs::msg::CriticsStats`` message containing critic names, whether they changed costs, and the sum of costs added by each critic for all trajectory samples. Useful for debugging and tuning critic behavior but should not be enabled for generic runtime use. +:open_loop: + + ============== =========================== + Type Default + -------------- --------------------------- + bool false + ============== =========================== + + 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. + :TrajectoryValidator.plugin: ============== ========================================= diff --git a/migration/Kilted.rst b/migration/Kilted.rst index 777b13e0c2..49f4db2567 100644 --- a/migration/Kilted.rst +++ b/migration/Kilted.rst @@ -433,3 +433,14 @@ This server allows the robot to follow and maintain a determined distance from a The information about Following Server parameters set-up could be found at :ref:`configuring_following_server` configuration guide. The tutorial for the Following Server has been recently updated. For the latest instructions and examples, see :ref:`navigation2-dynamic-point-following`. + +Option for MPPI to use open loop mode +--------------------------------------------------------------------------- + +In `PR #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. + +Default value: + +- open_loop: false From ea3688eb898536fbbb4def3c9457390353c8a0e4 Mon Sep 17 00:00:00 2001 From: Chanh Hoang Date: Wed, 22 Oct 2025 13:55:51 +0700 Subject: [PATCH 2/2] minor fixes Signed-off-by: Chanh Hoang --- configuration/packages/configuring-mppic.rst | 2 +- migration/Kilted.rst | 7 +++---- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/configuration/packages/configuring-mppic.rst b/configuration/packages/configuring-mppic.rst index 160a0ef5f5..7945da18bb 100644 --- a/configuration/packages/configuring-mppic.rst +++ b/configuration/packages/configuring-mppic.rst @@ -325,7 +325,7 @@ MPPI Parameters ============== =========================== 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. + 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. :TrajectoryValidator.plugin: diff --git a/migration/Kilted.rst b/migration/Kilted.rst index 49f4db2567..400a34748b 100644 --- a/migration/Kilted.rst +++ b/migration/Kilted.rst @@ -435,11 +435,10 @@ The information about Following Server parameters set-up could be found at :ref: The tutorial for the Following Server has been recently updated. For the latest instructions and examples, see :ref:`navigation2-dynamic-point-following`. Option for MPPI to use open loop mode ---------------------------------------------------------------------------- - +------------------------------------- In `PR #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. +Now it have 1 more option to use last command velocity for initial state estimation instead of odometry. +Useful when using low accelerations or when wheel odometry's latency (motor response is poor) causes issues in MPPI initial state estimation. Default value: