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mppi-trajectory-visualization

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MPPI trajectory visualization for debugging.

Software Engineering#debugging#visualization#controller#trajectory#ros2#rviz#mppi
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

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.

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-trajectory-visualization
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#mppi-trajectory-visualization

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