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SteveMacenski merged 3 commits into from
Apr 21, 2026
Merged

Update documentation for pluginized motion models #905

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c152fcc
updates to mppi configuration and migration
Alessio-Parmeggiani Apr 21, 2026
005e8a1
restored AckermannMotionModel parameter section
Alessio-Parmeggiani Apr 21, 2026
6773dbe
remove extra spaces
Alessio-Parmeggiani Apr 21, 2026
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30 changes: 21 additions & 9 deletions configuration/packages/configuring-mppic.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,23 @@ MPPI Parameters
============== ===========================
Type Default
-------------- ---------------------------
string "DiffDrive"
string "diff_drive"
============== ===========================

Description
The desired motion model to use for trajectory planning. Options are ``DiffDrive``, ``Omni``, or ``Ackermann``. Differential drive robots may use forward/reverse and angular velocities; Omni add in lateral motion; and Ackermann adds minimum curvature constraints.
The desired motion model plugin to use for trajectory planning. The plugin type is required to be specified in the corresponding namespace.

:``<motion_model>``.plugin:

============== ===========================
Type Default
-------------- ---------------------------
string N/A
============== ===========================

Description
The plugin to use for the motion model constraints of the MPPI planner.
Supported motion model plugins include "mppi::DiffDriveMotionModel", "mppi::OmniMotionModel", and "mppi::AckermannMotionModel" for differential drive, omnidirectional, and Ackermann robots respectively.

:critics:

Expand Down Expand Up @@ -374,10 +386,10 @@ Trajectory Visualization
Description
Whether to allow QoS profiles to be overwritten with parameterized values.

Ackermann Motion Model
----------------------
AckermannMotionModel
--------------------

:min_turning_r:
:``<motion_model>``.min_turning_r:

============== ===========================
Type Default
Expand All @@ -386,7 +398,7 @@ Ackermann Motion Model
============== ===========================

Description
The minimum turning radius possible for the vehicle platform (m).
The minimum turning radius possible for the vehicle platform (m). This is only used if ``<motion_model>``.plugin is set to "mppi::AckermannMotionModel".

Default Optimal Trajectory Validator
------------------------------------
Expand Down Expand Up @@ -1085,7 +1097,9 @@ Example
iteration_count: 1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
motion_model: "diff_drive"
diff_drive:
plugin: "mppi::DiffDriveMotionModel"
visualize: false
critic_index_to_visualize: 0
reset_period: 1.0 # (only in Humble)
Expand All @@ -1097,8 +1111,6 @@ Example
plugin: "mppi::DefaultOptimalTrajectoryValidator"
collision_lookahead_time: 2.0
consider_footprint: false
AckermannConstraints:
min_turning_r: 0.2
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
Expand Down
22 changes: 22 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -945,3 +945,25 @@ Global planner plugin natively accepts viapoints
`PR #5995 <https://github.com/ros-navigation/navigation2/pull/5995>`_ updates the ``createPath`` API for the ``BaseGlobalPlanner`` to include a vector ``std::vector<geometry_msgs::msg::PoseStamped>`` argument that takes in a list of intermediate points and passes them to the planner plugin implementation.

The function signature for ``createPath`` must be updated accordingly for all custom planner plugins inheriting from the ``BaseGlobalPlanner``. This change does not alter the behavior of ``ComputePathThroughPoses`` that connects consecutive segments end-to-end but does upgrade the ``ComputePathToPose`` action.

MPPI motion models use plugin-based configuration
--------------------------------------------------

`PR #6076 <https://github.com/ros-navigation/navigation2/pull/6076>`_ adds support for plugin-based configuration of motion models in MPPI.

Motion model now has to be set up by specifying plugin to use:

.. code-block:: yaml

MPPIController:
plugin: "nav2_mppi_controller::MPPIController"
motion_model: "diff_drive"
diff_drive:
plugin: "mppi::DiffDriveMotionModel"

Supported motion model plugins are:
- ``mppi::DiffDriveMotionModel`` : replaces ``motion_model: DiffDrive``
- ``mppi::OmniMotionModel`` : replaces ``motion_model: Omni``
- ``mppi::AckermannMotionModel`` : replaces ``motion_model: Ackermann``

While "diff_drive" is the default value for ``motion_model`` parameter, it is still required to specify the plugin for it, as shown above.
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