Skip to content

[Main] Optimize MPPI visualization to skip processing when no subscribers #5851

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 2 commits into from
Jan 7, 2026
Merged

[Main] Optimize MPPI visualization to skip processing when no subscribers #5851

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f652886
Optimize MPPI visualization to skip processing when no subscribers
SatArw Jan 7, 2026
00dfc33
Update nav2_mppi_controller/src/trajectory_visualizer.cpp
SatArw Jan 7, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 10 additions & 0 deletions nav2_mppi_controller/src/trajectory_visualizer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,12 @@ void TrajectoryVisualizer::add(
const std::string & marker_namespace,
const builtin_interfaces::msg::Time & cmd_stamp)
{
if (optimal_path_pub_->get_subscription_count() == 0 &&
trajectories_publisher_->get_subscription_count() == 0)
{
return;
}

size_t size = trajectory.rows();
if (!size) {
return;
Expand Down Expand Up @@ -101,6 +107,10 @@ void TrajectoryVisualizer::add(
void TrajectoryVisualizer::add(
const models::Trajectories & trajectories, const std::string & marker_namespace)
{
if (trajectories_publisher_->get_subscription_count() == 0) {
return;
}

size_t n_rows = trajectories.x.rows();
size_t n_cols = trajectories.x.cols();
const float shape_1 = static_cast<float>(n_cols);
Expand Down
Loading