Chortine

> At this moment, no, **but** MPPI is pluginized for a reason, you could easily create a new PathFollower/PathAlign critic that takes into account the timing in your pose messages....

Indeed, I'm facing some problems. I have implemented my first version of time_critic, the car now drive faster than without this critic. However, it starts zig-zag around the path, instead...

Hi, Here is my implementation of time_critic.cpp: ``` using namespace xt::placeholders; // NOLINT using xt::evaluation_strategy::immediate; void TimeCritic::initialize() { auto getParam = parameters_handler_->getParamGetter(name_); getParam(path_dt_, "path_dt", 0.1f); getParam(power_, "cost_power", 1); getParam(weight_, "cost_weight",...