[mppi] Add SpeedCritic to favour trajectories that create velocities closer to target speed. about navigation2 HOT 3 CLOSED

Thanks for the insights. I'll keep it in mind and I'll open a PR if I end up using it.
Happy for you to close this issue for now.

from navigation2.

I originally had such a critic but found it deeply problematic to enable reversing or even stopping at the end of paths. I suppose we could have the same kind of threshold_to_consider where its rejected when we're approaching the goal, but slowing down and stopping to reverse in cases where that's necessary is virtually impossible when you are incentivizing it to go full speed.

However, such a critic is really trivial to write. Its essentially the inverse of the simplest form of the Constraint Critic. I'd be fine merging this into Nav2 if you submitted a PR, but I'd suggest doing alot of testing to make sure you work out the kinks and edge cases. You don't always want to just travel as fast as possible, so defining those carve outs to not update the cost in that critic is going to be an important detail.

from navigation2.

Great, thanks!

from navigation2.