Recently, I’ve been tuning MPPI parameters for my omnidirectional robot. In my setup, I’m only using the vx and vy output from the controller, while keeping wz fixed at a constant value (e.g., zero, never moving it). However, I have noticed that the robot does not move smoothly, even after following the configuration guide and experimenting with different parameter combinations.

I wonder if this could be the issue that I’m ignoring the wz output from the controller.

Specifically, does disregarding the planned wz have any negative impact on the controller’s behavior (or maybe other parts of the navigation stack)? If yes, would it be better to implement a custom controller that only consider the x y motion?

This has been confusing me for a while, and I’d really appreciate the guidance from the maintainers