Basic Info

Description of contribution in a few bullet points

• Added an option in the standard trajectory generator in DWB to allow the user to limit the velocity command in the trajectory
  -based on current trajectory through a new parameter (limit_vel_cmd_in_traj_)
• This option ensures that the acceleration constraints are respected in the event there is a large difference between the current and commanded velocity - which may be more useful when there is no velocity smoother in use
• limit_vel_cmd_in_traj_ is set to false by default, but when set to true, would use the first velocity computed in the trajectory rollout as the trajectory velocity

Default behavior:

When limit_vel_cmd_in_traj_ is set to true:

We observed slightly improved velocity tracking, and similar time to reach the same goal setting this parameter to true.

Description of documentation updates required from your changes

• Added parameter limit_vel_cmd_in_traj_ to DWB local planner (in standard trajectory generator)

Future work that may be required in bullet points

• This parameter could also be extensible to other trajectory generation methods within DWB

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists