[velocity_smoother] Setting max_accel to negative flips sign of output

[Aposhian]

Bug report

Required Info:

• Operating System:
  • Ubuntu
• ROS2 Version:
  • humble
• Version or commit hash:
  • /~https://github.com/fireflyautomatix/navigation2/tree/rpp-dubins-constraint-humble-backport
• DDS implementation:
  • CycloneDDS

Steps to reproduce issue

Set

velocity_smoother:
  ros__parameters:
    min_velocity: [0.0, 0.0, -1.0]
    max_accel: [-1.0, 0.0, 0.0]

Expected behavior

Error to be thrown?

Actual behavior

Positive commanded velocity results in negative smoothed velocity, ignoring velocity limits

Additional information

I think there are two action items here:

• apply max and min limits last
• throw if signs on accel, decel don't make sense, on both configure, and dynamic parameters callback

[SteveMacenski]

Sure, seems reasonable. I look forward to the PR :-)

[SteveMacenski]

@Aposhian any update?

[Aposhian]

Sorry, fixing this hasn't been a priority for us, and likely won't be for some time.

[SteveMacenski]

OK, I'll add to the queue to work on this quarter. It seems easy enough for me to do

[SteveMacenski]

In progress

[SteveMacenski]

#3731 Resolves