fix default behavior (enforce_path_inversion: false) (#3643)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

Author: doisyg

nav2_mppi_controller/src/path_handler.cpp

@@ -174,7 +174,9 @@ void PathHandler::setPath(const nav_msgs::msg::Path & plan)
 {
  global_plan_ = plan;
  global_plan_up_to_inversion_ = global_plan_;
- inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_);
+ if (enforce_path_inversion_) {
+ inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_);
+ }
 }
 
 nav_msgs::msg::Path & PathHandler::getPath() {return global_plan_;}