mppi-trajectory-visualization

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.

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.

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.

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.

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.