Fix: Enable MPPI open_loop to restore hangar_sim nav speed

[bkanator]

[written by AI]

needs: moveit_pro/#21347

Warning

Inert until moveit_pro#21347 merges. open_loop is silently ignored by the stock Jazzy nav2_mppi_controller, which does not declare the parameter. This only takes effect once the image ships the patched build.

Problem

The hangar_sim base drives at roughly a third of its configured speed on Jazzy. MPPI seeds each control cycle's rollout from the last reported velocity (/odom) rather than its own last commanded velocity, so lagging odometry re-anchors the optimizer near the current speed every cycle.

Measured here (vx_max: 0.5, 6 m goal):

	Before	After
Commanded mean	0.165 m/s	0.466 m/s
Commanded max	0.173 m/s	0.500 m/s (reaches vx_max)
Ground-truth mean	0.138 m/s	0.452 m/s

Raising vx_max alone does nothing (0.5 → 1.5 changed nothing), so this is not tuning.

Part of PickNikRobotics/moveit_pro#21202.

Approach

One parameter. open_loop comes from ros-navigation/navigation2#5617, which is merged to nav2 main but was never backported to the Jazzy release; moveit_pro#21347 pins a build that carries it. The comment records why the setting exists so it is not mistaken for arbitrary tuning.

Release notes

None

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs