mppi-trajectory-visualization

Name: mppi-trajectory-visualization
Availability: InStock
Author: wimble

Visualize MPPI trajectory rollouts as color-coded markers in RViz.

18|2|Updated Apr 20, 2026

Search Tags:#debugging #visualization #controller #trajectory #ros2 #rviz #mppi

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill mppi-trajectory-visualization

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: mppi-trajectory-visualization
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/mppi-trajectory-visualization
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill mppi-trajectory-visualization

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

MPPI trajectory visualization provides a clear view of sampled and selected MPPI trajectories to aid debugging and tuning of the MPPI controller.

Core Features & Use Cases

Visualize all sampled trajectories as color-coded markers.
Inspect the transformed global plan and the optimal trajectory in RViz to diagnose planning-consistency.
Use for debugging critic balance, sampling diversity, and parameter tuning in ROS 2 MPPI workflows.

Quick Start

Enable visualization in the MPPI controller and open RViz2 to inspect the topic markers for trajectories and the optimal trajectory.

Frequently Asked Questions about mppi-trajectory-visualization

High-intent search queries and answers about installing and using this skill.

FAQPage Schema

How do I visualize MPPI trajectory rollouts in ROS 2 for debugging?▼

Visualize sampled MPPI trajectories by enabling the visualize parameter in your MPPI controller and opening RViz2 to inspect the published color-coded topic markers for trajectory rollouts.

What does MPPI trajectory visualization show in RViz?▼

MPPI trajectory visualization in RViz displays color-coded markers for all sampled trajectories, the transformed global plan, and the optimal trajectory to diagnose planning consistency.

How do I debug MPPI critic balance and sampling diversity in ROS 2?▼

Debug MPPI critic balance and sampling diversity in ROS 2 by visualizing trajectory rollouts in RViz, allowing you to inspect the distribution of sampled trajectories and the selected optimal path.

Does the MPPI controller need specific parameters to enable trajectory visualization?▼

Yes, the MPPI controller requires the visualize parameter to be enabled and must publish trajectory-related topics that RViz can render to display the sampled and optimal trajectories.

Why is my MPPI controller not showing trajectories in RViz2?▼

MPPI trajectories may not show in RViz2 if the controller's visualize parameter is disabled or if the controller is not publishing the necessary trajectory-related topics for RViz to render.