Add approach_velocity_scaling_dist to dynamic parameter callback (#5711)

* Add approach_velocity_scaling_dist to dynamic parameter callback

The approach_velocity_scaling_dist parameter was declared and initialized
but missing from the dynamicParametersCallback function, preventing it
from being updated via dynamic reconfigure (e.g., rqt_reconfigure).

This commit adds the parameter to the callback handler, enabling runtime
reconfiguration like other controller parameters.

Signed-off-by: Bram Odrosslij <bram.odros@gmail.com>

* Fixed bug that caused build failure

Signed-off-by: Bram Odrosslij <bram.odros@gmail.com>

* Added test

Signed-off-by: Bram Odrosslij <bram.odros@gmail.com>

---------

Signed-off-by: Bram Odrosslij <bram.odros@gmail.com>

Author: brammmieee

nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp

@@ -291,6 +291,8 @@ ParameterHandler::updateParametersCallback(
         params_.transform_tolerance = parameter.as_double();
       } else if (param_name == plugin_name_ + ".max_robot_pose_search_dist") {
         params_.max_robot_pose_search_dist = parameter.as_double();
+      } else if (param_name == plugin_name_ + ".approach_velocity_scaling_dist") {
+        params_.approach_velocity_scaling_dist = parameter.as_double();
       }
     } else if (param_type == ParameterType::PARAMETER_BOOL) {
       if (param_name == plugin_name_ + ".use_velocity_scaled_lookahead_dist") {

nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp

@@ -446,6 +446,7 @@ TEST(RegulatedPurePursuitTest, testDynamicParameter)
       rclcpp::Parameter("test.lookahead_time", 1.8),
       rclcpp::Parameter("test.rotate_to_heading_angular_vel", 18.0),
       rclcpp::Parameter("test.min_approach_linear_velocity", 1.0),
+      rclcpp::Parameter("test.approach_velocity_scaling_dist", 0.8),
       rclcpp::Parameter("test.max_allowed_time_to_collision_up_to_carrot", 2.0),
       rclcpp::Parameter("test.min_distance_to_obstacle", 2.0),
       rclcpp::Parameter("test.cost_scaling_dist", 2.0),
@@ -474,6 +475,7 @@ TEST(RegulatedPurePursuitTest, testDynamicParameter)
   EXPECT_EQ(node->get_parameter("test.lookahead_time").as_double(), 1.8);
   EXPECT_EQ(node->get_parameter("test.rotate_to_heading_angular_vel").as_double(), 18.0);
   EXPECT_EQ(node->get_parameter("test.min_approach_linear_velocity").as_double(), 1.0);
+  EXPECT_EQ(node->get_parameter("test.approach_velocity_scaling_dist").as_double(), 0.8);
   EXPECT_EQ(
     node->get_parameter(
       "test.max_allowed_time_to_collision_up_to_carrot").as_double(), 2.0);