[Proposal] Add new field "max_acceleration" in VelocityLimitConstraints msg

[go-sakayori]

Motivation

The current VelocityLimitConstraints message lacks a field to consider maximum acceleration. Therefore, with the current msg format, external acceleration command could not be required via External Velocity Limit Selector node, whereas deceleration is already realized. It would be better to realize faster acceleration by using the same msg and planning nodes/modules.

Proposed Approach

To further extend the external velocity limit selector, we propose adding a new field max_acceleration to the VelocityLimitConstraints.msg.
The msg would be changed as below:

+ float32 max_acceleration
float32 min_acceleration
float32 max_jerk
float32 min_jerk

Discussion

Please let me know if you have any concerns or suggestions regarding this proposal, thanks!
@mitsudome-r @yukkysaito

[go-sakayori]

@mitsudome-r @yukkysaito
Kindly ping.