handle dynamically changes in parameters.

Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com>
ros-navigation · Jan 10, 2024 · 33f80fd · 33f80fd
1 parent b4ea7f5
commit 33f80fd
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
@@ -123,6 +123,8 @@ 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);