I think I have found a bug related to parameter configuration in the controller.

I started the robot as usual this morning and it gave me this configuration error on startup.

It says that The value of parameter 'MPPI.vx_min' is incorrectly set to -0.350000, it should be >=0. Ignoring parameter update..

I looked at the documentation and this is the default value: https://docs.nav2.org/configuration/packages/configuring-mppic.html

I also looked at this part of the code and I found it in the RPP controller!!!

Maybe this is related to this PR #4971