Add near collision cost

configuration/packages/configuring-mppic.rst

@@ -660,6 +660,17 @@ This critic incentivizes navigating away from obstacles and critical collisions
   Description
     Cost to apply to a true collision in a trajectory.
 
+:near_collision_cost:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  int            253
+  ============== ===========================
+
+  Description
+    Costmap cost value to set a maximum proximity for avoidance.
+
 :critical_cost:
 
   ============== ===========================
@@ -669,8 +680,7 @@ This critic incentivizes navigating away from obstacles and critical collisions
   ============== ===========================
 
   Description
-    Cost to apply to a pose with any point in inflated space to prefer distance from obstacles.
-
+    Cost to apply to a pose with a cost higher than the near_collision_cost.
 
 :near_goal_distance:
 

migration/Jazzy.rst

@@ -353,3 +353,12 @@ The parameter ``closed_loop`` was introduced to the Rotation Shim Controller to
 Default value:
 
 - true
+
+Near collision cost in MPPI cost critic
+***************************************
+
+In `PR #4996 <https://github.com/ros-navigation/navigation2/pull/4996>`_ a new parameter ``near_collision_cost`` was added to the MPPI cost critic to set a maximum proximity for avoidance. The critical cost will be applied to costs higher than this value even if non-collision inducing.
+
+Default value:
+
+- 253