mppi-critics
CommunityTune MPPI critics for safe, reliable navigation.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
MPPI critics provide a structured way to tune multiple trajectory-cost components so ROS 2 navigation can be safe and efficient.
Core Features & Use Cases
- Highly configurable critic plugins (ConstraintCritic, CostCritic, GoalCritic, GoalAngleCritic, PathAlignCritic, PathFollowCritic, PathAngleCritic, PreferForwardCritic, VelocityDeadbandCritic) with per-critic knobs like cost_weight, cost_power, thresholds.
- Path-following fidelity: PathAlignCritic and PathFollowCritic balance staying on the plan and making progress, with options for footprint checks and path occupancy constraints.
- Goal-oriented behavior: GoalCritic and GoalAngleCritic influence arrival and final orientation, with disengagement handoffs to GoalCritic when near the goal.
- Real-world tuning guidance for open indoor, narrow hallway, and cluttered environments.
Quick Start
Load the MPPI Critics configuration and begin adjusting weights while visualizing trajectories.
Dependency Matrix
Required Modules
None requiredComponents
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-critics Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#mppi-critics Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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