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Currently this set of parameters is in adjustemets. controller_server: ros__parameters: ... controller_plugins: ["FollowPath"] ... FollowPath: plugin: "nav2_mppi_controller::MPPIController" time_steps: 56 model_dt: 0.25 batch_size: 2000 vx_std: 0.2 vy_std: 0.2 wz_std: 0.4 vx_max: 0.5 vx_min: -0.35 vy_max: 0.5 [...] -
