handle dynamically changes in parameters. (ros-navigation#4046)

Signed-off-by: Sebastian Solarte <[email protected]>
Marc-Morcos · Jul 4, 2024 · 21cf5dc · 21cf5dc
1 parent efc7ec6
commit 21cf5dc
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
@@ -137,6 +137,8 @@ void Optimizer::reset()
 
   settings_.constraints = settings_.base_constraints;
 
+  settings_.constraints = settings_.base_constraints;
+
   costs_ = xt::zeros<float>({settings_.batch_size});
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);