Feature request

Feature description

With the current implement, when any parameter is changed, MPPI resets the kinematic constraints to their initial values. This will reset any dynamic speed limit set by the /speed_limit topic (e.g. from speed zones).

As the interaction between speed limit and dynamic parameters is quite subtle, a good solution could be to reject dynamic parameters changes if s.constraints != s.base_constraints, at least for the kinematic params (the ones defined as ControlConstraints).

Implementation considerations

None?

References

See the discussion in #5768 (comment)