Add dynamic parameter

To fix ros-navigation#4315 Signed-off-by: Huy Nguyen Van <[email protected]>
Huyhust13 · May 9, 2024 · 6d2ae4e · 6d2ae4e
1 parent 96d5646
commit 6d2ae4e
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);