[DWB] Option to limit velocity commands in trajectory generator

[huiyulhy]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Issue #3277
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	Turtlebot3 Gazebo simulation - waffle
Does this PR contain AI generated software?	No

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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)

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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

[SteveMacenski]

Great! We also need:

• Nav2 migration guide updated to include this change and the new parameter
• Nav2 configuration guide for DWB including this new parameter
• You have a couple of linting errors: https://app.circleci.com/pipelines/github/ros-navigation/navigation2/12645/workflows/2c298f6b-d296-44b0-a985-b33143906d5d/jobs/38206/tests

[huiyulhy]

Great! We also need:

• Nav2 migration guide updated to include this change and the new parameter
• Nav2 configuration guide for DWB including this new parameter
• You have a couple of linting errors: https://app.circleci.com/pipelines/github/ros-navigation/navigation2/12645/workflows/2c298f6b-d296-44b0-a985-b33143906d5d/jobs/38206/tests

Thanks for the review and pointing the required changes out! Am updating for the documentation for Nav2 and I wanted to confirm that the addition of this change in the migration guide would be from Jazzy to K-Turtle?

[SteveMacenski]

That is correct!

[huiyulhy]

Great! We also need:

• Nav2 migration guide updated to include this change and the new parameter
• Nav2 configuration guide for DWB including this new parameter
• You have a couple of linting errors: https://app.circleci.com/pipelines/github/ros-navigation/navigation2/12645/workflows/2c298f6b-d296-44b0-a985-b33143906d5d/jobs/38206/tests

@SteveMacenski thanks for the feedback! Fixed the linting errors and updated the documentation in this PR on nav2 docs!

[codecov]

Codecov Report

Attention: Patch coverage is 80.00000% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...roller/dwb_plugins/src/standard_traj_generator.cpp	80.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...ns/include/dwb_plugins/standard_traj_generator.hpp	100.00% <ø> (ø)
...roller/dwb_plugins/src/standard_traj_generator.cpp	97.67% <80.00%> (-1.10%)	⬇️

... and 4 files with indirect coverage changes

[SteveMacenski]

A couple of docs updates needed, then we can merge the pair!