Document update for open_loop option in MPPI controller

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 odometry for MPPI initial state estimation. When enable, use last command velocity for MPPI initial state estimation.
+
 :TrajectoryValidator.plugin:
 
   ============== =========================================

migration/Kilted.rst

@@ -433,3 +433,13 @@ 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 <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 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