Added support for MPPI Controller to adjust wz_std parameter based on linear speed #711
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… linear speed Signed-off-by: Vahap Oguz TOKMAK <5289529+vahapt@users.noreply.github.com>
SteveMacenski
requested changes
Jun 26, 2025
| Advanced Parameters | ||
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| | **WARNING**: These parameters are experimental and subject to change; **use them at your own risk** as they may lead to unpredictable behavior in certain configurations. |
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We shouldn't be merging this into mainline until its tested so that it is not experimental - so we should both have that testing done and also remove this warning
| ============== =========================== | ||
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| Description | ||
| Defines the strength of the reduction function. |
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Add the suggested 3.0 here
| ============== =========================== | ||
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| Description | ||
| Target wz_std value while linear speed goes to infinity. Must be between 0 and wz_std. Has no effect if ``advanced.wz_std_decay_strength <= 0.0`` |
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Add the suggested 0.05 here
| | When a robot with high inertia (e.g. 500kg) is moving fast and if wz_std is above 0.3, oscillation behavior can be observed. Lowering wz_std stabilizes the robot but then the maneuvers take more time. | ||
| | Dynamically reducing wz_std as vx, vy increase (speed of the robot) solves both problems. | ||
| | Suggested values to start with are: ``wz_std = 0.4, wz_std_decay_to = 0.05, wz_std_decay_strength = 3.0`` |
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Remove suggested values here
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Documentation update relevant to issue ros-navigation/navigation2#5274