Is the package usable for ROS_Humble?

[phanhoc1902]

These are the 3 main problems the package has that prevent it from being used on Ros-Humble:

• Header file not found: controller_exceptions.hpp.
• Unable to override the reset() function due to changes in the new Nav2 signature.
• Incompatible methods of retrieving the costmap and inflation layer.

[SteveMacenski]

See the MPPI controller within Nav2. It derives from this work as the readme states.

[phanhoc1902]

Yes sir, I know, I have used MPPI controller in nav2 before, I want to learn more about MPPI and found this log-mppi package. I want to use it to see how its performance compares to MPPI in nav2. I will try to apply log-normal sampling improvement to MPPI but it is really difficult for me.