easynav_mppi_controller

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_summit

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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
kilted

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_summit

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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
lyrical

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

Name	Deps
easynav_playground_kobuki
easynav_playground_summit

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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 humble. 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_mhamcl_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 easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
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
lyrical
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/....

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

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.
—	—	—	Velocity and acceleration limits are not this plugin’s: they are the robot limits of `controller_node` (`robot_limits.max_linear_vel`, `min_linear_vel`, `max_angular_vel`, `max_linear_acc`, `max_linear_decel`, `max_angular_acc`, `max_angular_decel`), queried with `ControllerMethodBase::get_robot_limits()` and also enforced by ControllerNode’s velocity smoother.
`<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).
`<plugin>.obstacle_range`	`double`	`2.0`	Obstacle points are taken (robot frame) from just behind the robot (`robot_geometry.radius`) up to this distance ahead, and this far to each side; mirrored when moving backward.
`<plugin>.z_min_filter`	`double`	`0.0`	Points below this height (robot frame) are the ground; above `robot_geometry.height` they are ignored too.

Deprecated: this plugin’s former limit parameters (max_linear_velocity, max_angular_velocity, max_linear_acceleration, max_angular_acceleration, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

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

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
Obstacle points in the robot frame
Removed unused dependencies
Contributors: Francisco Martín Rico

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
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	lifecycle_msgs
	rclcpp_lifecycle
	easynav_common
	easynav_core
	easynav_sensors
	easynav_system
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

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