Velocity Smoother: option to ignore deceleration limits when commanding full stop

[tonynajjar]

Feature request

Feature description

I believe it would make sense to have an option to ignore the deceleration limits when the commanded velocity is 0. Something like that would not be necessary if the cmd_vel is passed to e.g. the collision_monitor but in my application the velocity smoother would be the last publisher of cmd_vel so I need it to output zero as soon as the input is zero.

N.B: I didn't try the velocity smoother yet but this feature request only makes sense if max_decel does what I think it does and that is limit the deceleration, i.e. limit the rate of change from a higher to lower value in absolute value (as opposed to limiting the acceleration in the counter-clockwise direction)

Let me know if the feature makes sense to you.

Implementation considerations