Prevent MPPI controller from resetting speed limits upon goal execution.

[leander-dsouza]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot4 Gazebo simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Added a default parameter to the MPPI controller that prevents it from resetting speed limits whenever a goal is reached/terminated.

Description of documentation updates required from your changes

• N/A

Description of how this change was tested

• The turtlebot now begins the movement in a speed limit zone with its speed reduced to the speed limit of the zone.

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Future work that may be required in bullet points

• N/A

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...troller/include/nav2_mppi_controller/optimizer.hpp	100.00% <ø> (ø)
nav2_mppi_controller/src/controller.cpp	90.74% <100.00%> (ø)
nav2_mppi_controller/src/optimizer.cpp	98.52% <100.00%> (+<0.01%)	⬆️

... and 1 file with indirect coverage changes

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[SteveMacenski]

Good find here on MPPI

[SteveMacenski]

FYI @pepisg