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Docs changes for the Eigen implementation of the MPPI controller. #616

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Docs changes for the Eigen implementation of the MPPI controller. #616

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1bb8179
Added MPPI eigen implementation related migration changes
Ayush1285 Dec 5, 2024
f086192
Fixed hyperlink
Ayush1285 Dec 5, 2024
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6 changes: 6 additions & 0 deletions migration/Jazzy.rst
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Expand Up @@ -189,3 +189,9 @@ They have been consolidated into a single one:

The ``local_namespace`` parameter has been removed and is now automatically set to the node's name (which is what the second removed constructor did).
Parameters ``parent_namespace`` / ``use_sim_time`` both provide default values to maintain the ability of creating a ``Costmap2DROS`` object by just specifying a name.

MPPI controller re-implemented using Eigen library and performance improved by 40-45%
*************************************************************************************

In the `PR #4621 <https://github.com/ros-navigation/navigation2/pull/4621>`_ MPPI controller is fully reimplemented using Eigen as it is well supported hpc library and suits better for our use case of two dimensional batches of trajectories. GPU support for rolling out trajectories could also be possible in future using Eigen.
MPPI Optimizer's performance is improved by 40-45%.
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