handle dynamically changes in parameters. (#4046)

Signed-off-by: Sebastian Solarte <[email protected]>
ros-navigation · Jan 11, 2024 · 569f167 · 569f167
1 parent 370dbfd
commit 569f167
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);