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mppi-controller

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Tune MPPI controller parameters for Nav2.

Software Engineering#ros2#critic#motion-control#path-planning#nav2#mppi#trajectory-optimization
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

MPPI Controller tuning enables ROS 2 navigation practitioners to configure a model predictive path integral controller for Nav2, aligning trajectory rollouts, time horizons, and velocity limits with real robot dynamics.

Core Features & Use Cases

  • Configurable horizon and sampling: adjust time_steps, model_dt, batch_size, and iteration_count to trade off planning quality and CPU usage.
  • Critic-based cost shaping: integrate CostCritic, GoalCritic, PathFollowCritic, and others to balance safety, efficiency, and goal attainment.
  • Production-ready tuning workflow: apply validated defaults and guidelines to tune controllers for indoor navigation, outdoor paths, or highly dynamic environments.

Quick Start

Load a baseline YAML, set time_steps and model_dt to your robot's dynamics, and initialize the MPPI controller to observe trajectory performance.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: mppi-controller
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#mppi-controller

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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