MPPI controller configuration

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
      wz_max: 0.3
      iteration_count: 1
      prune_distance: 1.7
      transform_tolerance: 0.1 # https://answers.ros.org/question/304537/could-not-transform-the-global-plan-to-the-frame-of-the-controller/
      temperature: 0.3
      gamma: 0.015
      motion_model: "DiffDrive"
      visualize: false
      regenerate_noises: false
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.2
      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        critical_cost: 300.0
        consider_footprint: true
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 50.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 1
        threshold_to_consider: 0.5
        offset_from_furthest: 20
        use_path_orientations: false
      PathFollowCritic:
        enabled: false
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 10
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: false
        cost_power: 1
        cost_weight: 2.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        mode: 0