Unclamp noise velocity.

[chanhhoang99]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5214)
Primary OS tested on	(Ubuntu)
Robotic platform tested on	(Real robot with video and bags recorded)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

Verify acceleration constrain applied to noise velocity sample.

Description of documentation updates required from your changes

Description of how this change was tested

Tested with robot base which has acceleration clamp in driver controller and verify if robot MPPI controller can predict that acceleration clamp or not.(Tested with low acceleration e.g az = 0.1 rad/s^2, ax max = 0.5 m/s^2, ax min = -0.5m/s^2)

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@chanhhoang99, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

Please remove the commented out lines, I don't like keeping dead code inline :-)

Please also rebase on main so CI should turn over - there were some message filter API changes that are fixed in main now that should make this compile (minus any potential issues in this PR)

Also fix the linting error:

+++ nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp.uncrustify
@@ -96,2 +96,2 @@
-         .cwiseMax(lower_bound_vx)
-         .cwiseMin(upper_bound_vx);
+        .cwiseMax(lower_bound_vx)
+        .cwiseMin(upper_bound_vx);
@@ -103,2 +103,2 @@
-         .cwiseMax(state.wz.col(i - 1) - max_delta_wz)
-         .cwiseMin(state.wz.col(i - 1) + max_delta_wz);
+        .cwiseMax(state.wz.col(i - 1) - max_delta_wz)
+        .cwiseMin(state.wz.col(i - 1) + max_delta_wz);
@@ -117,2 +117,2 @@
-           .cwiseMax(lower_bound_vy)
-           .cwiseMin(upper_bound_vy);
+          .cwiseMax(lower_bound_vy)
+          .cwiseMin(upper_bound_vy);

[SteveMacenski]

See my comment in huynhduc9905#6 (comment)

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...ler/include/nav2_mppi_controller/motion_models.hpp	100.00% <100.00%> (ø)

... and 7 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

Your compiler warnings are odd - I just opened a PR that should address it #5277. I'll merge once CI passes in the morning and then you should rebase on it to get the Build Against Released Distributions" jobs to pass

[SteveMacenski]

Merged - please rebase!

I’m not sure what’s going on with mypy linting - feel free to ignore that for the scope of this PR if we get everything else passing.

[SteveMacenski]

@chanhhoang99 please sign off with DCO :-) That's the only thing blocking for merge other than asking others to validate since this is a major change (even though its like 3 changes 😆 )

[SteveMacenski]

Just waiting on testing BTW!

[SteveMacenski]

I'm having a hard time finding beta testers with similar situations that aren't too underwater to test this. I'm going to go ahead and merge this after some preliminary testing done be 2-3 people and didn't notice an issue. I'll just keep a look out on the issue tracker if there are any regressions reported.

Thanks for this contribution @chanhhoang99 !

[SteveMacenski]

@chanhhoang99 should we keep chatting about the lag compensation piece?

[chanhhoang99]

@SteveMacenski , I have not yet make progress on that. I will create another issue when there is improvement.

[SteveMacenski]

Great thanks for the update! Let me know if I can be of help! I really appreciate you digging into MPPI, not many folks have given me critical feedback on the internal functioning to date (only that they like the outputs)

[tonynajjar]

For me these changes are breaking; the acceleration limits are no longer respected:

before this PR

after this PR

I'm not too familiar with this part to debug, can you guys see an issue with it? I created #5464 to track