Nav2 MPPI Controller Merged - See Project

[SteveMacenski]

This controller has been updated and merged into Nav2: https://navigation.ros.org/configuration/packages/configuring-mppic.html

As such, while this project repository is absolutely critical and led to its inclusion into Nav2 and to the amazing work and efforts by @artofnothingness, the version in Nav2's repository fixes a number of bugs major and minor and will continue to receive community improvements and be maintained alongside the rest of the navigation stack into the future.

[SteveMacenski]

@artofnothingness thank you so much for your work and efforts with me to refine and improve your original work at FastSense. This will be a capability that will change how folks use Nav2 in the future and I've already heard such positive things from the folks beta testing the software about how happy they are by it (and both have decided to use it in their production robot systems).

None of this would be possible without your efforts and patience. Whenever this is talked about in the future, I will continue to sing your praises and make sure that you are acknowledged for your leading role in this work.

[artofnothingness]

Steve, great job!

I haven't had much time to dive into the math of the changes lately, but I'll try to look at the version in Nav 2 and figure it out later, and if there will be thoughts, ill write back!

[Ram-userfriendly]

This controller has been updated and merged into Nav2: https://navigation.ros.org/configuration/packages/configuring-mppic.html

As such, while this project repository is absolutely critical and led to its inclusion into Nav2 and to the amazing work and efforts by @artofnothingness, the version in Nav2's repository fixes a number of bugs major and minor and will continue to receive community improvements and be maintained alongside the rest of the navigation stack into the future.

The server is down,I can't access the page

[SteveMacenski]

It’s been moved to docs.nav2.org