Enable Nav2 MPPI controller #7
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Current tune gets the vehicle going around 0.8m/s but still performs damped oscillations along the path as it progress towards the goal. |
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One notable failure is that collision detection is not well enforced and the vehicle will attempt to drive through objects in narrow workspaces. |
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This is close enough and I will continue to tune the controller in future PR's. |
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First commit is the default parameters suggested by Nav2 here.