Feature request

First of all, thanks for an attractive controller. I had a lot of fun using Regulated Pure Pursuit Controller due to it's simplicity to configure and robustness.
It used to have acceleration limiting which did not work properly and has been removed. There is some deceleration near goal implemented but it requires large lookahead values in order to prevent harsh deceleration.
RPP controller should have motion profile generation with limited acceleration and jerk that allows it to smoothly accelerate from standstill and decelerate when approaching the goal.

Old acceleration limiting was done on current robot speed. Classic approach is to apply kinematic limits to commanded velocities and the underlying hardware tracks the reference. This is being done in the PR.

I'm already working on this feature and opening this issue as part of the procedure to open a PR as noted in navigation2 documentation.

Issue #2633 is closely related, but it is an external velocity smoother. We need to know when to start braking inside the controller in order to reach the goal accurately.