MPPI dynamic parameter not working with vx_max about navigation2 HOT 3 CLOSED

Correct, we update settings.base_constraints with parameter inputs, not settings.constraints which is what is used for clipping (https://github.com/open-navigation/navigation2/blob/main/nav2_mppi_controller/src/optimizer.cpp#L76). This is done to decouple the parameters and allow for dynamic updates of the velocities via the speed limiter API (https://github.com/open-navigation/navigation2/blob/main/nav2_mppi_controller/src/optimizer.cpp#L419-L444) so we can store the "true" max velocity for setting percentage adjustments with respect to.

We do however sync them up when the controller is reset (https://github.com/open-navigation/navigation2/blob/main/nav2_mppi_controller/src/optimizer.cpp#L126) which happens when parameter updates are made in main https://github.com/open-navigation/navigation2/blob/main/nav2_mppi_controller/src/optimizer.cpp#L89.

It looks like that might need the following added to Humble's reset() method like we have in main. Can you test to verify that does what you need it to do then open a PR?

  settings_.constraints = settings_.base_constraints;

https://github.com/open-navigation/navigation2/commit/569f1672609c22bc52c4c4c486818fde3bd99646

from navigation2.

Thank for your replying @SteveMacenski.
I'll do test.

from navigation2.

It's correct, it works now @SteveMacenski
Thank you very much for your help.

from navigation2.