Basic Info

Description of contribution in a few bullet points

• I added LIMIT = 4 in the polygon types enum
• I added 3 separate parameters limit_... for x, y and tw.
• I perform a simple clamp on the incoming velocity
• I added the test for this polygon

Description of documentation updates required from your changes

• I updated the README
• I added a limit polygon example in the .yaml

Future work that may be required in bullet points

• Update the docs

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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