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Fix: Enable MPPI open_loop to restore hangar_sim nav speed #840

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Fix: Enable MPPI open_loop to restore hangar_sim nav speed #840

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4 changes: 4 additions & 0 deletions src/hangar_sim/params/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,10 @@ controller_server:
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
# Seed each rollout from the last commanded velocity instead of the
# reported odometry, which lags and otherwise pins the commanded speed
# near a third of vx_max on Jazzy (moveit_pro issue #21202).
open_loop: true
prune_distance: 1.7
transform_tolerance: 0.1
temperature: 0.3
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