#2631 will remove acceleration / deceleration limits from RPP due to some issues. With the idea that these kind of things should be handled by a downstream velocity smoother anyways.

Is there a home for a velocity smoother in Nav2, either as a tutorial, or a full implementation?

This proposed smoother could set (this list is just an initial set of ideas):

• acceleration limit
• deceleration limit
• jerk limit
• velocity deadband (do not command a velocity between x1 m/s and x2 m/s)