[Discussion] Can MPPI follow the global path that has multiple segments, each represents forward or reversing movement. about navigation2 HOT 3 CLOSED

Hi that's exactly what I want! Here is what my global path looks like:

I set orientation in path and set PathAlignCritic.use_path_orientations = true, and it works!
Especially, the built-in removePosesAfterFirstInversion() function is very useful!

from navigation2.

That is sufficiently vague that it’s hard for me to say anything about anything with confidence 🙃

But yes, MPPI is being used and has been shown in Guillaume’s ROSCon 2023 talk on bidirectionality in Nav2 to be able to change direction with reversing segments of paths from the Smac Planner. The important path attribute is that you set the orientation vectors in the path so that it’s decipherable that you want an explicit change in orientation for direction of travel.

MPPI’s critics then have settings where it’ll pick up on those and use them in their behavior scoring. I’d highly recommend @doisyg ’s talk: https://vimeo.com/879000809/b32f8ebec4

from navigation2.

Great! Sounds like its solved?

from navigation2.