Add dynamic parameter (ros-navigation#4319)

To fix ros-navigation#4315 Signed-off-by: Huy Nguyen Van <34271857+Huyhust13@users.noreply.github.com>
EnjoyRobotics · Sep 26, 2024 · a0fb4ad · a0fb4ad
1 parent de8a403
commit a0fb4ad
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
@@ -122,6 +122,8 @@ void Optimizer::reset()
   control_history_[2] = {0.0, 0.0, 0.0};
   control_history_[3] = {0.0, 0.0, 0.0};
 
+  settings_.constraints = settings_.base_constraints;
+
   costs_ = xt::zeros<float>({settings_.batch_size});
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);