[mppi] add publish_critic_stats parameter for debug#5860
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SteveMacenski merged 1 commit intoros-navigation:humble_mainfrom Jan 12, 2026
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Backporting ros-navigation#5485 to humble_main branch Allow to publish statistics about each MPPI critic's cost contributions Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>
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@Alessio-Parmeggiani, all pull requests must be targeted towards the |
SteveMacenski
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Jan 12, 2026
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LGTM |
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Basic Info
Description of contribution in a few bullet points
This PR backports #5485 to humble_main branch.
It allow to publish statistics about each MPPI critic's cost contributions in a /critic_stats topic featuring a new message type:
nav2_msgs/CritiicStatsDescription of documentation updates required from your changes
Changed the nav2_mppi_controller readme to describe the new feature. Changes were copied from #5485.
Description of how this change was tested
I tested with different critics (also custom ones) if the topic was behaving correctly: I verified that it publishes coherent data, respecting score magnitude and disabled critics.
I wrote a simple program to visualize the data in a plot to validate the changes. This is a test output.
For Maintainers:
backport-*.