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[diff_drive_controller] Acceleration limits inversed when going backward
I want my robot to have a larger deceleration than acceleration. So it is quicker to react when facing an obstacle.
This is possible by setting a min_acceleration
with a negative value larger than the max_acceleration
.
The behavior is OK when going forward. But when the robot is going backward, the accelerations are inverted. So it is not the behavior that I was hoping for.
Is that behavior normal? Did I misunderstand their use?
You could try to add a new case to the limiters acceleration feature here
We are up for reviewing and merging new additions: you could mirror the tests of the acceleration limits too.