Cherry pick MPPI critic monitoring and division by zero fix on Ackermann robots #2
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…ts (ros-navigation#5485) * Publish criticsStats Signed-off-by: Tony Najjar <[email protected]> * linting Signed-off-by: Tony Najjar <[email protected]> * change header to stamp Signed-off-by: Tony Najjar <[email protected]> * make unique_pointer Signed-off-by: Tony Najjar <[email protected]> * typo Signed-off-by: Tony Najjar <[email protected]> * Add readme Signed-off-by: Tony Najjar <[email protected]> * add to readme Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>
…5636) * [mppi] fix division by zero leading to cost values being NaNs, which then propagate through all the critics and results in NaN control_sequence. These NaNs were removed by the hard applyControlSequenceConstraints(), but replaced with ax_max & wz_max. These lead to high steering at the start of a run Signed-off-by: Adi Vardi <[email protected]> * [mppi] clean ackermann constraints Signed-off-by: Adi Vardi <[email protected]> * fix long line Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]>
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Cherry-picked:
Made small changes to make the critic monitoring to work with Humble.