[diff_drive_controller] Acceleration limits inversed when going backward

[romainreignier]

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?

[bmagyar]

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.