Panav/feat/update mppi visualization by Pana1v · Pull Request #5975 · ros-navigation/navigation2

Pana1v · 2026-02-22T16:32:05Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5800
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Built upon @tonynajjar's visualization PR, addressing feedback from @SteveMacenski
Renamed per-critic visualize_furthest_point parameter to debug_visualizations so each critic has a single toggle for all its debug visuals
Moved createTrajectoryMarkers and createFootprintMarkers from class methods to inline free functions in utils.hpp for easier unit testing
Vectorized cost normalization using Eigen (minCoeff/maxCoeff and array ops) instead of manual loops

Description of documentation updates required from your changes

Parameter rename: visualize_furthest_point → debug_visualizations for PathAlignCritic, PathAngleCritic, PathFollowCritic

Description of how this change was tested

Performed linting validation using pre-commit run --all or colcon test

Future work that may be required in bullet points

Unit tests for the new free functions createTrajectoryMarkers and createFootprintMarkers in utils.hpp

mergify · 2026-02-22T16:32:40Z

This pull request is in conflict. Could you fix it @Pana1v?

mergify · 2026-02-22T17:25:26Z

@Pana1v, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

…ions in utils.hpp for easier unit testing - Moved createTrajectoryMarkers and createFootprintMarkers from TrajectoryVisualizer class to inline free functions in utils.hpp - Renamed visualize_furthest_point to debug_visualizations in path critic plugins - Vectorized cost normalization using Eigen operations Signed-off-by: Pana <panav@users.noreply.github.com> Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

mini-1235 · 2026-02-23T08:51:04Z

Based on the CI results, it looks like this isn't compiling. If it is not ready for review yet, please convert it to a draft and ping us again once you have fully tested it locally :)

mini-1235 · 2026-02-23T08:52:34Z

nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp

  std::string frame_id_;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    trajectories_publisher_;
+  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr transformed_path_pub_;


Note that this is removed from mppi, see migration guide here https://docs.nav2.org/migration/Kilted.html#centralize-path-handler-logic-in-controller-server

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

tonynajjar · 2026-03-04T13:43:47Z

@Pana1v how's this going? I'm going to need this soon again so let me know when it's ready for someone to test!

Pana1v · 2026-03-04T13:46:29Z

@Pana1v how's this going? I'm going to need this soon again so let me know when it's ready for someone to test!

Just sat down to work on this by coincidence, I've addressed most of the comments by Steve, was just setting up a local env for testing this out, if you could test it that would be even better!

tonynajjar · 2026-03-04T14:03:27Z

Yeah will give it a try

…isualization

tonynajjar · 2026-03-04T16:49:47Z

By the way you have some failing tests: https://app.circleci.com/pipelines/github/ros-navigation/navigation2/18159/workflows/a1887e73-4858-4f97-8264-c7e04fd6daf6/jobs/54640

tonynajjar · 2026-03-04T17:17:52Z

I'm considering replacing costs_sum with more telling and useful metrics, namely:

costs_std_dev — the standard deviation of each critic's cost distribution across trajectories. It measures how much a critic differentiates between trajectories. A high σ means the critic strongly prefers some trajectories over others; a low σ means it scores them roughly equally (i.e., it's not influencing the selection much).

influence_ratio — each critic's σ divided by the sum of all critics' σ values (σ_k / Σσ_j). It measures what fraction of the total trajectory discrimination each critic is responsible for. If one critic has an influence_ratio of 0.8, it's doing 80% of the "deciding" — a signal that its weight may be too dominant.

What do you think? Would you add any extra metrics?

I have my changes in a branch, would you mind if I commit directly on your branch? Another option is that I reopen #5643

Pana1v · 2026-03-05T05:44:14Z

I'm considering replacing costs_sum with more telling and useful metrics, namely:

costs_std_dev — the standard deviation of each critic's cost distribution across trajectories. It measures how much a critic differentiates between trajectories. A high σ means the critic strongly prefers some trajectories over others; a low σ means it scores them roughly equally (i.e., it's not influencing the selection much).

influence_ratio — each critic's σ divided by the sum of all critics' σ values (σ_k / Σσ_j). It measures what fraction of the total trajectory discrimination each critic is responsible for. If one critic has an influence_ratio of 0.8, it's doing 80% of the "deciding" — a signal that its weight may be too dominant.

What do you think? Would you add any extra metrics?

I have my changes in a branch, would you mind if I commit directly on your branch? Another option is that I reopen #5643

Definitely more informative to have influence ratio, I was thinking of publishing weights as well, but it would get complicated since a critic such as for obstacle may have multiple weight fields.

I've sent an invite to add you on my fork so that there's minimum friction in incorporating changes on your branch.

Alessio-Parmeggiani · 2026-03-05T07:24:36Z

I'm considering replacing costs_sum with more telling and useful metrics, namely:

costs_std_dev — the standard deviation of each critic's cost distribution across trajectories. It measures how much a critic differentiates between trajectories. A high σ means the critic strongly prefers some trajectories over others; a low σ means it scores them roughly equally (i.e., it's not influencing the selection much).

influence_ratio — each critic's σ divided by the sum of all critics' σ values (σ_k / Σσ_j). It measures what fraction of the total trajectory discrimination each critic is responsible for. If one critic has an influence_ratio of 0.8, it's doing 80% of the "deciding" — a signal that its weight may be too dominant.

What do you think? Would you add any extra metrics?

I have my changes in a branch, would you mind if I commit directly on your branch? Another option is that I reopen #5643

Hello, I just want to add my two cents since I am working with MPPI and will find useful to have new debug information.

In previous projects I found useful to publish the normalized cost of each critic.
When generating the final trajectory the costs are normalized by subtracting the first value of each cost.

navigation2/nav2_mppi_controller/src/optimizer.cpp

Lines 544 to 548 in fd8621c

    
           auto costs_normalized = costs_ - costs_.minCoeff(); 
        
           const float inv_temp = 1.0f / s.temperature; 
        
           auto softmaxes = (-inv_temp * costs_normalized).exp().eval(); 
        
           softmaxes /= softmaxes.sum();

Publishing these vallues would allow to examine the actual values that are used to generate the optimal trajectory in that time step.

Another thing I would like to say is to keep costs_sum because it is useful to check for the range of values of each critic, so during weight tuning it is possible to inspect these values and change the weights to avoid having critics that span values that are order of magnitude different.

it is possible to add more fields to CriticStats.msg so we can have different kind of informations.

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

codecov · 2026-03-06T02:07:21Z

Codecov Report

❌ Patch coverage is 57.31225% with 108 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_mppi_controller/src/critics_visualizer.cpp	34.37%	42 Missing ⚠️
...oller/include/nav2_mppi_controller/tools/utils.hpp	50.87%	28 Missing ⚠️
nav2_mppi_controller/src/trajectory_visualizer.cpp	65.33%	26 Missing ⚠️
...r/include/nav2_mppi_controller/critic_function.hpp	60.00%	10 Missing ⚠️
...troller/include/nav2_mppi_controller/optimizer.hpp	80.00%	1 Missing ⚠️
...2_mppi_controller/src/critics/obstacles_critic.cpp	66.66%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...roller/include/nav2_mppi_controller/controller.hpp	`100.00% <ø> (ø)`
...er/include/nav2_mppi_controller/critic_manager.hpp	`100.00% <ø> (ø)`
.../nav2_mppi_controller/tools/critics_visualizer.hpp	`100.00% <100.00%> (ø)`
...v2_mppi_controller/tools/trajectory_visualizer.hpp	`100.00% <ø> (ø)`
nav2_mppi_controller/src/controller.cpp	`100.00% <100.00%> (+12.24%)`	⬆️
nav2_mppi_controller/src/critic_manager.cpp	`100.00% <100.00%> (ø)`
nav2_mppi_controller/src/critics/cost_critic.cpp	`85.00% <100.00%> (+0.58%)`	⬆️
..._mppi_controller/src/critics/path_align_critic.cpp	`94.20% <100.00%> (+0.35%)`	⬆️
..._mppi_controller/src/critics/path_angle_critic.cpp	`87.87% <100.00%> (+0.37%)`	⬆️
...mppi_controller/src/critics/path_follow_critic.cpp	`93.10% <100.00%> (+0.51%)`	⬆️
... and 7 more

... and 18 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

…ppi-visualization

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

…isualization

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

Copilot

Pull request overview

This PR updates Nav2 MPPI controller visualization and critic introspection capabilities, including new per-trajectory LINE_STRIP visualization, per-critic cost breakdown support, and improved critic influence statistics.

Changes:

Replace candidate trajectory visualization with cost-colored line markers and add optional per-critic cost visualizations.
Update critics statistics message to publish discriminating power (costs_std_dev) and normalized influence (influence_ratio) instead of summed costs.
Introduce/standardize a Visualization parameter namespace and add critic-level debug_visualizations toggles for additional debug publishers.

Reviewed changes

Copilot reviewed 25 out of 25 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
nav2_msgs/msg/CriticsStats.msg	Changes critic stats fields to `costs_std_dev` and `influence_ratio`.
nav2_mppi_controller/test/utils_test.cpp	Updates `CriticData` aggregate init to match new struct layout.
nav2_mppi_controller/test/trajectory_visualizer_tests.cpp	Adds tests for transformed path publishing and updates visualization API usage.
nav2_mppi_controller/test/critics_tests.cpp	Updates `CriticData` init and adds “debug visualizations enabled” coverage for path critics.
nav2_mppi_controller/test/critic_manager_test.cpp	Adds test for per-critic cost collection behavior.
nav2_mppi_controller/src/trajectory_visualizer.cpp	Implements new visualization toggles/publishers and cost-colored trajectory markers.
nav2_mppi_controller/src/critics/path_follow_critic.cpp	Adds `debug_visualizations` publisher for target pose visualization.
nav2_mppi_controller/src/critics/path_angle_critic.cpp	Adds `debug_visualizations` publisher for target pose visualization.
nav2_mppi_controller/src/critics/path_align_critic.cpp	Adds `debug_visualizations` publisher for furthest-point pose visualization.
nav2_mppi_controller/src/critics/obstacles_critic.cpp	Adds trajectory collision mask population for stats filtering.
nav2_mppi_controller/src/critics/cost_critic.cpp	Adds trajectory collision mask population for stats filtering.
nav2_mppi_controller/src/critic_manager.cpp	Adds per-critic cost diffs collection and new std-dev/influence stats computation.
nav2_mppi_controller/src/controller.cpp	Routes all visualization publishing through `TrajectoryVisualizer::visualize(...)`.
nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp	Adds free functions for trajectory/footprint marker creation.
nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp	Expands visualizer API to accept costs and additional publish options.
nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp	Exposes costs and per-critic costs for visualization.
nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp	Adds publisher members for debug visualization.
nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp	Adds publisher members for debug visualization.
nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp	Adds publisher members for debug visualization.
nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp	Adds `visualize_per_critic_costs_` flag.
nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp	Stores a node clock pointer for timestamping debug messages.
nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp	Adds `individual_critics_cost` and `trajectory_collisions` optionals.
nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp	Removes legacy visualization-related members/methods from controller interface.
nav2_mppi_controller/README.md	Updates docs for new critic stats fields.
nav2_bringup/params/nav2_params.yaml	Updates MPPI params to new `Visualization` namespace and flags.

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nav2_mppi_controller/src/critics/path_angle_critic.cpp

nav2_mppi_controller/src/critics/path_follow_critic.cpp

nav2_mppi_controller/src/critics/path_align_critic.cpp

nav2_mppi_controller/src/trajectory_visualizer.cpp

nav2_mppi_controller/README.md

nav2_mppi_controller/test/critic_manager_test.cpp

nav2_mppi_controller/src/trajectory_visualizer.cpp

nav2_mppi_controller/src/controller.cpp

nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp

nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

Copilot

Pull request overview

Copilot reviewed 25 out of 25 changed files in this pull request and generated 4 comments.

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Copilot · 2026-03-09T11:51:19Z

nav2_mppi_controller/src/trajectory_visualizer.cpp

+  // Visualize trajectories with total costs
+  if (publish_trajectories_with_total_cost_) {
+    add(candidate_trajectories, costs, {}, stamp);
+  }
+
+  // Visualize trajectories with individual critic costs
+  if (publish_trajectories_with_individual_cost_ && !critic_costs.empty()) {
+    add(candidate_trajectories, costs, critic_costs, stamp);
+  }


In visualize(), when both publish_trajectories_with_total_cost_ and publish_trajectories_with_individual_cost_ are enabled, add() is called twice and the second call will also re-add the "Total Costs" markers (since add() unconditionally adds total costs when publish_trajectories_with_total_cost_ is true). This will duplicate total-cost markers in the published MarkerArray. Consider calling add() only once when individual costs are available (passing critic_costs), or add a flag/branch so total-cost markers are generated exactly once per cycle.

Addressed, combined both if statements, it is gated in the add function already.

Copilot · 2026-03-09T11:51:19Z

nav2_mppi_controller/test/critics_tests.cpp

+  state.local_path_length = std::abs(state.pose.pose.position.x - goal.position.x);
+  *data.furthest_reached_path_point = 9;
+  critic.score(data);


furthest_reached_path_point is initialized as std::nullopt in this test, but the code dereferences it (*data.furthest_reached_path_point = 9;), which is undefined behavior and will crash. Assign the optional directly (e.g., data.furthest_reached_path_point = 9;) before scoring.

Copilot · 2026-03-09T11:51:19Z

nav2_mppi_controller/test/critics_tests.cpp

+  state.pose.pose.position.x = 0.0;
+  *data.furthest_reached_path_point = 21;
+  for (int i = 0; i < 22; ++i) {


furthest_reached_path_point is initialized as std::nullopt in this test, but the code dereferences it (*data.furthest_reached_path_point = 21;), which is undefined behavior and will crash. Assign the optional directly (e.g., data.furthest_reached_path_point = 21;) before scoring.

Copilot · 2026-03-09T11:51:20Z

nav2_mppi_controller/README.md

@@ -59,7 +59,7 @@ This process is then repeated a number of times and returns a converged solution
 | retry_attempt_limit        | int    | Default 1. Number of attempts to find feasible trajectory on failure for soft-resets before reporting failure.                                                                                                                                                                                                       |
 | regenerate_noises          | bool   | Default false. Whether to regenerate noises each iteration or use single noise distribution computed on initialization and reset. Practically, this is found to work fine since the trajectories are being sampled stochastically from a normal distribution and reduces compute jittering at run-time due to thread wake-ups to resample normal distribution. |
 | publish_optimal_trajectory | bool   | Publishes the full optimal trajectory sequence each control iteration for downstream  control systems, collision checkers, etc to have context beyond the next timestep. |
- | publish_critics_stats      | bool   | Default false. Whether to publish statistics about each critic's performance. When enabled, publishes a `nav2_msgs::msg::CriticsStats` message containing critic names, whether they changed costs, and the sum of costs added by each critic. Useful for debugging and tuning critic behavior. |
+ | publish_critics_stats      | bool   | Default false. Whether to publish statistics about each critic's performance. When enabled, publishes a `nav2_msgs::msg::CriticsStats` message containing critic names, discriminating power (std dev), and influence ratios. Useful for debugging and tuning critic behavior. |


This parameter table still documents visualize, publish_optimal_trajectory, and the TrajectoryVisualizer: namespace as controller-level configuration, but the implementation and bringup params now use the unified <controller>.Visualization.* namespace (e.g., publish_optimal_trajectory_msg, publish_transformed_path, etc.) and the controller no longer reads visualize / publish_optimal_trajectory. Please update this section to reflect the new parameter names and namespace so users don't configure flags that are silently ignored.

Updated Readme to reflect the new schema

…d remove unused parameters Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

…rver visualization settings Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

SteveMacenski · 2026-03-12T21:22:12Z

@tonynajjar can you review and let me know if you approve now?

nav2_mppi_controller/src/critic_manager.cpp

…e addition of candidate trajectories Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

Pana1v · 2026-03-15T04:42:05Z

@tonynajjar I tested it on my PC, might just be my rig but it was a little slow, there was some latency in the visualizations can you try and confirm for once if it works smoothly on yours ?

…threshold The test set goal distance to 0.15m but PathFollowCritic::score() early-returns when local_path_length < threshold_to_consider (default 1.4m), so costs were always zero. Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

SteveMacenski · 2026-03-15T20:08:09Z

nav2_mppi_controller/test/critics_tests.cpp

  EXPECT_NEAR(costs(1), 19.845, 0.01);
 }
+
+TEST(CriticTests, PathFollowCriticDebugVisualization)


Here and below: how do these test visualizations? There's not a subscriber to any of it nor is it testing the new fields recorded -- only the main costs. .

SteveMacenski · 2026-03-15T20:10:34Z

nav2_mppi_controller/test/trajectory_visualizer_tests.cpp

+  node->declare_parameter(
+    "my_name.Visualization.publish_trajectories_with_total_cost", rclcpp::ParameterValue(true));


Where are these results evaulated?

SteveMacenski · 2026-03-15T20:13:58Z

nav2_mppi_controller/README.md

      temperature: 0.3
      gamma: 0.015
      motion_model: "DiffDrive"
-      visualize: false


I think as I mentioned to @tonynajjar I don't want there to be a ton of these publish_XYZ debug parameters. I think there should be 1. Visualize / debug or not. You then publish all or nothign. Its just too much to break out individually and you can always just check if the publisher has any subscriptions to pass population/publication if no one is listening to that one.

As such, the namespace, each of the publish_ can be removed.

publish_optimal_path/publish_optimal_trajectory_msg (which ever existed before, it looks like its been renamed or something) is not a debug topic, that should be removed back to the global namespace

SteveMacenski · 2026-03-15T20:15:35Z

nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp

  return std::min(upper_bound, std::max(input, lower_bound));
 }

+/**


These additions are visualization-specific and I think can live in the vissualization class

SteveMacenski · 2026-03-15T20:15:47Z

nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp

  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-  nav2::Publisher<nav2_msgs::msg::Trajectory>::SharedPtr opt_traj_pub_;


Add this back, this is not debug.

SteveMacenski · 2026-03-15T20:16:47Z

nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp

+      tf2::Quaternion quat;
+      quat.setRPY(0.0, 0.0, yaw);
+      msg->pose.orientation = tf2::toMsg(quat);


nav2 utils has a function for this

SteveMacenski · 2026-03-15T20:17:16Z

nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp

+    * @brief Initialize a debug pose publisher for this critic
+    * @param topic Topic name suffix (e.g. "furthest_reached_path_point")
+    */
+  void initDebugPosePublisher(const std::string & topic)


@tonynajjar what do you think? I don't love the idea of each critic having this internally, rather the responsibility of the manager / visualizer?

SteveMacenski · 2026-03-15T20:17:33Z

nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp

+    if (critics_data_.individual_critics_cost) {
+      return *critics_data_.individual_critics_cost;
+    }
+    static const std::vector<std::pair<std::string, Eigen::ArrayXf>> empty;


Why static?

SteveMacenski · 2026-03-15T20:18:29Z

nav2_mppi_controller/src/critics/cost_critic.cpp

+    data.trajectory_collisions = Eigen::Array<bool, Eigen::Dynamic, 1>(data.costs.rows());
+    data.trajectory_collisions->setConstant(false);
+  }
+


@tonynajjar thoughts? I do not love the idea of exposing this into the critics. Is this something you really want? Architecturally it is bad design and will slow down the controller and prime for buggyness

tonynajjar · 2026-03-19T15:26:52Z

Hey @Pana1v, after some reflection we believe my original implementation was a bit too intrusive so I started again from scratch with another approach and it is now merged: #6036

Thanks for your efforts pushing this forward though. If you would still like to contribute in this direction, the visualization of the furthest_reached_path_point from some critics, was not included in that PR and would love to see it! (I'm actually needing it right now 😅 )

Pana1v force-pushed the panav/feat/update-mppi-visualization branch 3 times, most recently from 588558a to 0f40963 Compare February 22, 2026 18:04

Pana1v force-pushed the panav/feat/update-mppi-visualization branch from 0f40963 to f996cd4 Compare February 22, 2026 18:29

mini-1235 reviewed Feb 23, 2026

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mini-1235 mentioned this pull request Feb 23, 2026

MPPI cost-based visualization #5643

Closed

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Pana1v marked this pull request as draft February 24, 2026 03:28

Fix Build

52a9346

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

Pana1v force-pushed the panav/feat/update-mppi-visualization branch from 855dcda to 52a9346 Compare February 28, 2026 09:09

Pana1v marked this pull request as ready for review March 4, 2026 13:47

Merge remote-tracking branch 'nav/main' into panav/feat/update-mppi-v…

9ff3b84

…isualization

Fix Failing test segmentation fault

3bdcd73

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

Pana1v and others added 6 commits March 7, 2026 02:58

Added new tests for coverage

377f8f6

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

Merge remote-tracking branch 'upstream/main' into panav/feat/update-m…

e48334c

…ppi-visualization

Add tests for per-critic cost visualization and debug visualizations

4020e81

Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

Merge remote-tracking branch 'nav/HEAD' into panav/feat/update-mppi-v…

496ac89

…isualization

add trajectory_collisions and critic stats

4983bcb

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

add trajectory_collisions to obstacle critics

fcefafb

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

tonynajjar requested a review from Copilot March 9, 2026 10:59

Copilot started reviewing on behalf of tonynajjar March 9, 2026 11:00 View session

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various fixes

5e8c162

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

tonynajjar requested a review from Copilot March 9, 2026 11:45

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tonynajjar added 3 commits March 9, 2026 12:37

Refactor MPPI critics to utilize centralized debug pose publishing an…

97e3aee

…d remove unused parameters Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

Remove unused parameter 'publish_transformed_path' from controller_se…

c6a41d2

…rver visualization settings Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

fix not reset

48592e1

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

SteveMacenski reviewed Mar 12, 2026

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nav2_mppi_controller/src/critic_manager.cpp Show resolved Hide resolved

Separated trajectory visualizer class, updated README, fixed duplicat…

06e0211

…e addition of candidate trajectories Signed-off-by: Panav Arpit Raaj <praajarpit@gmail.com>

SteveMacenski reviewed Mar 15, 2026

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tonynajjar closed this Mar 19, 2026

		node->declare_parameter(
		"my_name.Visualization.publish_trajectories_with_total_cost", rclcpp::ParameterValue(true));

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Pana1v commented Feb 22, 2026 •

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