About min_acceleration when reversing

[otamachan]

Is your feature request related to a problem? Please describe. I am using the diff_drive_controller, and I want the robot to accelerate slowly when speeding up and decelerate quickly to come to a stop. To achieve this, I have set min_acceleration and max_acceleration, and the robot behaves as expected when moving forward. However, when reversing, the acceleration is fast, and the deceleration is slow, so it does not work as expected.

Describe the solution you'd like Would it be better to reverse the handling of min_acceleration and max_acceleration when reversing?

Describe alternatives you've considered

Additional context I found the similar issue in ros_controllers(https://github.com/ros-controls/ros_controllers/issues/290)

[otamachan]

might be related to https://github.com/ros-controls/control_toolbox/pull/212

[christophfroehlich]

Thanks for reporting this, I'll have a look and fix that maybe with (or after) the PR in control_toolbox. We have a newer implementation of the speed limiter in the tricycle_controller package, where there is also a min_deceleration and max_deceleration parameter. Maybe we should consider using that one for all controllers, but it has different parameters and I'm not sure if we should change the well-established ones from diff_drive_controller.

[christophfroehlich]

@otamachan could you have a look at #1315 please and see if it solves your problem?

[otamachan]

Great!! I'll try. Thank you!