Mppi_controller_cuda — CUDA-accelerated MPPI local planner for ROS1 & ROS2

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Hi, i have developed mppi_controller_cuda, a CUDA-accelerated MPPI (Model Predictive Path Integral) local planner, built on the MPPI-Generic framework and based on nav2_mppi_controller.
Repo: GitHub - datledoan/mppi_controller_cuda: CUDA-accelerated MPPI controller for ROS · GitHub

Two branches:

  • noetic — ROS1, works with move_base and move_base_flex.
  • jazzy — ROS2 Jazzy / Nav2, drop-in controller_server plugin.
    Demo:

mppi_demo

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