Fix: Enable MPPI open-loop control on Jazzy

[picknik-johnny-5-bot]

[written by AI]

Motivation

The Jazzy MPPI controller uses lagging odometry to seed each optimization cycle, limiting commanded base speed in hangar_sim. Upstream navigation2#6336 adds an opt-in open_loop mode that seeds from the previous command.

Refs PickNikRobotics/moveit_pro#21730.

Brief description

• Enables FollowPath.open_loop in the Jazzy-only Nav2 parameter file introduced by parent PR Fix: Select hangar_sim nav2 params by ROS distro so Jazzy navigation starts #863.
• Keeps Humble unchanged because its published MPPI controller does not support this parameter.
• Extends the distro-parity test to enforce the Jazzy value and Humble absence.

This is a stacked draft based on #863.

Blocking dependencies

Do not mark ready or merge until:

1. PickNikRobotics/moveit_pro#21671 and parent PR Fix: Select hangar_sim nav2 params by ROS distro so Jazzy navigation starts #863 land.
2. A ROS Jazzy Navigation2 package containing navigation2#6336 is published.
3. The MoveIt Pro v9.4 Jazzy image advances to a snapshot containing that package.
4. Runtime verification reports FollowPath.open_loop=True and confirms the commanded-speed regression is fixed.

How it was tested

• python -m pytest -q src/hangar_sim/test/nav2_params_distro_parity_test.py — 5 passed.
• pre-commit run --files src/hangar_sim/params/nav2_params_jazzy.yaml src/hangar_sim/test/nav2_params_distro_parity_test.py — all applicable hooks passed.
• git diff --check origin/pr-863-current...HEAD — passed.

A code-reviewer, test-runner, and platform-architecture review passed with no required changes. Runtime testing remains blocked on publication of the upstream Jazzy package.

Release notes

• Bug Fix: Fixed slow Jazzy mobile-base navigation by enabling MPPI open-loop command seeding when using a compatible Navigation2 package.

[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