easynav_mppi_controller

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
kilted

Package Summary

Version	0.4.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.1 (2026-07-26)

Add missing easynav_sensors deps
Adaptations to #94
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
lyrical

Package Summary

Version	0.4.2
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.2 (2026-07-26)

Complete deps
GPLv3 -> Apache 2.0
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Merge branch 'rolling' into improve_astar_costmap
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Adaptation to EasyNavigation#71
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	rclcpp
	tf2
	tf2_ros
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_mppi_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.4.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: MPPI Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_mppi_controller

Description

A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_mppi_controller/MPPIController
Type: easynav::MPPIController
Base Class: easynav::ControllerMethodBase
Library: easynav_mppi_controller
Description: A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mppi_controller/MPPIController/....

Name	Type	Default	Description
`<plugin>.num_samples`	`int`	`100`	Number of trajectory rollouts per iteration.
`<plugin>.horizon_steps`	`int`	`10`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.lambda`	`double`	`0.1`	Temperature / control noise scaling factor.
`<plugin>.max_linear_velocity`	`double`	`1.0`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.0`	Maximum angular velocity (rad/s).
`<plugin>.max_linear_acceleration`	`double`	`0.5`	Maximum linear acceleration (m/s²).
`<plugin>.max_angular_acceleration`	`double`	`1.0`	Maximum angular acceleration (rad/s²).
`<plugin>.fov`	`double`	`M_PI/2.0`	Field of view used in trajectory sampling (radians).
`<plugin>.safety_radius`	`double`	`0.6`	Safety radius around the robot (meters).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`/mppi/candidates`	`visualization_msgs/msg/MarkerArray`	MPPI candidate trajectories as markers.	QoS depth=10
Publisher	`/mppi/optimal_path`	`visualization_msgs/msg/MarkerArray`	Optimal MPPI trajectory as markers.	QoS depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mppi_controller

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
Update plugins to new sensors API
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Include package in cmake and package.xml
Fix link error when running MPPI in Realease
Stop controllers at IDLE
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	easynav_simple_common
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	easynav_system
	easynav_sensors
	pluginlib
	tf2_ros
	tf2
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs
	visualization_msgs
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_mppi_controller` at Robotics Stack Exchange