I will say though the few examples of 3D velocity smoothers have removed that feature which is telling. Maybe the velocity differentiation part and/or the Ruckig part itself. I.e. (1) you can make trajectories that are themselves already jerk limited. What should be the behavior at the top? I think the motion will be slower than you expect. Minimum velocities (m/s) to send to the robot hardware controllers, to prevent small commands from damaging hardware controllers if that speed cannot be achieved due to stall torque. In the other implementations, I also see an approach where the smoother has his own timer (and thus his own publish rate). @vinnnyr what are your thoughts on jerk limiting, how are you measuring acceleration so that you wouldn't be double differentiating noisy velocity data? Jerk is another derivative on top of that which would not be numerically stable to compute based on velocities. We call this module motion_velocity_smoother because the limitations of the . #2631 will remove acceleration / deceleration limits from RPP due to some issues. Would be nice actually to have that abstracted architecturally. Type of feedback to use for the current state of the robots velocity. Is this behavior ok? Feel free to poke me if I can be helpful on the moveit side. to your account. The Nav2 smoother is a Task Server in Nav2 that implements the nav2_behavior_tree::SmoothPath interface. I just noticed I missed the tags here when my input was requested for Jerk. I think for a first-release we can not include jerk, but if @vinnnyr wanted to come in after and include it, that PR would be easily merged. I don't think that should be the default behavior but I'd be fine with that a parameterized option. Velocity message that arrive are cached and processed at the speed of the internal timer. Then I can take a look :)! Confirming the issue: there is no "ros-humble-nav2-velocity-smoother" found at Jammy on docker, or at ros2 distribution packages list (although nav2_velocity_smoother/ exists in humble branch). I'm not sure what (2) entails. I think there's some natural synergies here to use that for this work potentially. Now I feel like a jerk ;) Since we have a constant stream of these cmd_vel's coming out of the trajectory planner at a relatively consistent rate (and with algorithms that pre-apply varying levels of feasibility constraints) the target setpoint for the velocity is constantly changing but we don't know what the future holds to be able to meaningfully set target acceleration setpoints. Nav2 is the official navigation stack in ROS2. See the package's README for more information. After the bulk is in place, adding a couple new parameters and a new constraint would be a trivial PR to review and merge. The node is designed on a regular timer running at a configurable rate. It should be an almost perfect match, which is why I was confused to see different behavior on our hardware. The ramp-up and ramp-down seem ok to me. (1) would be setting the new_{velocity, acceleration, pose} from the output as the input of the next iteration. Timeout (s) after which the velocity smoother will send a zero-ed out Twist command and stop publishing. It looks like they all do that in one way or another (timer, while loop, etc). Regularity of the intervals? Basic Info Info Please fill out this column Ticket(s) this addresses (add tickets here #1) Primary OS tested on (Ubuntu, MacOS, Windows) Robotic platform tested on (Steve's Robot, gazebo. Vw) represent left and right turns. Is there a home for a velocity smoother in Nav2, either as a tutorial, or a full implementation? smoothernavigationrobot node cmd_vel_muxrobotros app. The deadband issue was inspired by issues we were fighting with RPP on a robot. It could be a simple Euler calculation like accel = v(i+1) - v(i) / delta_t, Filter from beginning to end with a low-pass filter, Then filter from end to beginning with the same filter, To filter forwards then backwards removes the phase delay from filtering. In OPEN_LOOP, it will use the last commanded velocity as the next iterations current velocity. nav2_velocity_smoother sounds good to me! For example, if a local trajectory planner is running at 20hz, the velocity smoother can run at 100hz to provide approximately 5 messages to a robot controller which will be smoothed by kinematic limits at each timestep. So that it can be run at a faster rate than local trajectory planner is executing at in order to have a smooth interpolation to "ramp" commands by the regular interval samples? The buffer is an interesting idea. What should be the behavior at the top? When acceleration limits are set appropriately, this is a good assumption. It loads a map of potential smoother plugins to do the path smoothing in different user-defined situations. My problem is, I have no idea where things go in the Nav2 codebase. Have a question about this project? I don't think so). I don't have any magic answers but it sounds like you're asking the right questions. I like the idea of off-boarding as much as I can to external libraries, especially if they're used elsewhere in the ecosystem. That would make most sense to me. The commanded velocities looks at the previous cmd_vel that was send and assumes that the robot follows these commands. https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother, https://github.com/ipa320/cob_control/tree/kinetic_dev/cob_base_velocity_smoother, https://github.com/kobuki-base/velocity_smoother, https://github.com/kobuki-base/velocity_smoother/blob/devel/src/velocity_smoother.cpp#L161, https://github.com/wilcobonestroo/navigation2/tree/add-velocity-smoother, https://github.com/ros-planning/navigation2/tree/vel_smoother, https://github.com/kobuki-base/velocity_smoother/blob/devel/src/velocity_smoother.cpp#L263-L296, velocity deadband (do not command a velocity between x1 m/s and x2 m/s), Limit to kinematics of the robot platform (accel / decel, velocities, angular/linear), including min deadband, Jerk limitation, though I don't see any examples doing this (?). Yeah so I can concede that jerk limits when in, Make sure to have this be a component node (register it) so that we can load this into the component container on launch, not only as a standalone server, The all-caps chars are only used on get/set of variables, I think just having the string in the get/set line would be good. This is also something I could commit to working on at some point next year (or over the holidays as a toy project on the plane rides home) if there wasn't external contributor interest. Nav2 uses behavior trees to call modular servers to complete an action. If given a reasonable acceleration limit ( that we would have wanted enforced when the robot was at speed), we would enter this situation. What should happen if the orginal cmd_vel is in the deadband? Purpose. If we're using it for trajectories generated via other methods, then we should have acceleration and other information we can meaningfully use versus live / noisy data. @vinnnyr Can you describe some use cases or scenarios where you use the deadband issue? Do you think we should include jerk for the commanded velocity mode? Moreover, smoothly interpolating by having a higher rate is the best reason for having it that way. I have only tested with X velocity base type. We strive to be the Pub "where everybody knows your name.". Simply nav2_velocity_smoother? Do you think we should stick to ruckig? Additionally, the parameters are signed, so it is important to specify maximum deceleration with negative signs to represent deceleration. what are typical values? If set approximately to the rate of your local trajectory planner, it should smooth by acceleration constraints velocity commands. I don't see the benefits of this. Navigation assumes instantaneous response, so the closer to that we can give, the better performance of tracking would be. Time (s) to buffer odometry commands to estimate the robot speed, if in CLOSED_LOOP operational mode. I was thinking to listen to the original cmd_vel topic and in the callback immediately publish the smoothed version. support omni). | privacy, https://github.com/ros-planning/navigation2.git, Limit velocity commands by kinematic constraints, including velocity and acceleration, Limit velocities based on deadband regions, Stop sending velocities after a given timeout duration of no new commands (due to stopped navigation), Send a zero-velocity command at velocity timeout to stop the robot, in case not properly handled, Support Omni and differential drive robots (e.g. <-- that sounds about right. I think from my current looking, ruckig is not the best choice for us unfortunately for this project which I'm disappointed by since it looks like it could really streamline some things. I will try to finish it this weekend and make a PR. privacy statement. I think that's also the role of the local trajectory planner. There can be a timer-based check to see if there are messages coming in or not. Note: rotational velocities negative direction is a right-hand turn, so this should always be negative regardless of reversing preference. It brings up a few questions I'm still working through. Nothing fancy. Yeah, but I'd test with setting the max accels to something lower to see what happens if those little variations are invalid (so it should be smoothed out). The nav2_velocity_smoother is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers. From that, ruckig doesn't quite make sense for our application. Where loop 2 onwards, we were stuck at commanding a velocity the robot would have never been able to move. Or can we completely drop the jerk issue? This is signed and thus must be negative to reverse. As with all smoothing you get some delay in the signal. Also tried apt search ros-humble-nav2 | grep velocity on my host machine with no luck. Should I put it in its own package or add it to an existing one? This is honestly a nice, compact project for a student or company that had a need for such a thing and wanted to help make the contribution. Nav2 robot jerks frequently on random occasions humble ros2 nav2 navigation costmap move_base tf2 local_costmap asked Aug 12 '22 MrOCW 40 10 26 31 updated Aug 12 '22 Hi, I have tried DWB and RPP controllers but my robot vibrates & jerks very intensely. This is smoothing out the values, which I agree would be helpful to enforce the constraints. Integrating is usually pretty stable, but taking numerical derivatives is not, All subscribers/publishers should be created during, Dynamic parameters callbacks handler to set in, I can not find any angular twist smoothing logic for, How do we set the current acceleration / jerk in the process? The Nav2 smoother is a Task Server in Nav2 that implements the nav2_behavior_tree::SmoothPath interface. In the implementation from Care-O-bot (cob) they treat the x and y as independent things to control. Actually, that should be more or less what you show with the buffer. If you end up numerically differentiating, here's a decent way to do it: it does work if we do open loop feedback (e.g. Our aim is to add a velocity smoother to Nav2 to take in cmd_vel from the stack and smooth them before throwing into the robot hardware controllers for execution. I wouldn't be opposed to adopting that in Nav2 (with obvious code quality / styling changes). Setting the update rate to higher than the controller rate, so 1 velocity command in = N velocity commands out, somewhat applying a smoothing trajectory since each dt its called will update the velocity towards the commanded velocity by the acceleration profile. we assume the last timestep we met the required state and so we can store the last iteration's velocity/acceleration/jerk to use as the "current" in the next timestep). Also consider the odom_duration to use relative to your odometry publication rate and noise characteristics. Its still in development and incomplete. It worked reasonably well. when both x and y are at their max). O'Malley's is an independent, family-owned, restaurant established in 1986. A smoothing module implementing the nav2_behavior_tree::SmoothPath interface is responsible for improving path smoothness and/or quality, typically given an unsmoothed path from the planner module in nav2_planner. I think this is a good add for Nav2 to bring more basic navigation capacity 'in house'. While this is not required, it is a nice design feature. The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners' control efforts. If it would help, I can write some of this. In theory you won't have to take 3rd derivatives of noisy mobile base motor data, or am I missing something? The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners control efforts. The text was updated successfully, but these errors were encountered: Confirming the issue: there is no "ros-humble-nav2-velocity-smoother" found at Jammy on docker, or at ros2 distribution packages list (although nav2_velocity_smoother/ exists in humble branch). This will be used to determine the robot's current velocity and therefore achievable velocity targets by the velocity, acceleration, and deadband constraints using live data. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Could someone give me some feedback on this code for this issue? This module plans a velocity profile within the limitations of the velocity, the acceleration and the jerk to realize both the maximization of velocity and the ride quality. I haven't taken a look at this yet, but I did want to point you to ruckig that's being used in #2816. If the smoothing frequency out paces odometry or poorly selected odom_durations are used, the robot can oscillate and/or accelerate slowly due to latency in closed loop mode. There can be a timer-based check to see if there are messages coming in or not. If your timer runs at a constant rate, why not use that for, Overall, maybe the ruckig library would be nice to use, this should also smooth based on jerk as well (ideally) though we don't have input measurements of acceleration so I'm not sure we should try to attempt it. move_basesmoother. --> I'm thinking the latter, which might then argue against using any kind of trajectory libraries, since we would want to use the full limits available to us vs moving below it to use the full time available (is that an option in ruckig? So Sorry about that!!! With this minimal configuration, I was able to get the robot rolling around autonomously! So, I was thinking in the direction of reacting to incoming Twist messages on cmd_vel. #2964 is ready for testing if folks want to kick the tires! I think it makes sense to add jerk limiting to the trajectory planners perhaps to get around this situation, so that way the computed trajectories generating the commands are limited by it so that the velocity smoother doesn't require to do it -- and then its based on theoretical models and not actual current sensor data so you can differentiate it to your heart's desire. We are your 'almost heaven' destination in the foothills of the Rockies, offering rich history, unparalleled outdoor life, memorable dining venues, and an arts community of note.Palmer Lake is one of the best kept secrets of the Colorado Front Range! Already on GitHub? I figure there must be a reason for that? You have target_state (i) at iteration i. If you compute from the speed/last command the band of acceptable velocities from the min / max acceleration applied to it, then you can threshold. kandi ratings - Low support, No Bugs, No Vulnerabilities. There doesn't seem to be any jerk limitation. These are each separate nodes that communicate with the behavior tree (BT) over a ROS action server. This package contains the Simple Smoother and Savitzky-Golay Smoother plugins. Also, adding in a "if no command after X time, send 0" in case there's poorly implemented robot base controllers without timeout sequences. v1 = v0 + a_limits * t) and threshold within limits, but that's not as smooth as generating a trajectory if new discontinuous commands come in. However we want to (1) use the maximum kinematic limits possible to achieve velocities ASAP and maintain them vs using the full time allotted and (2) be able to proportionately bound the velocities of the axes so that we maintain the same (or as similar as possible) commanded direction. The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners' control efforts. I don't understand the none option yet, but I will have a look at their code to see what it actually does. Implement velocity_smoother with how-to, Q&A, fixes, code snippets. They all appear to be derivative though, so not much difference between them (at first glance). In CLOSED_LOOP, it will use the odometry from the odom topic to estimate the robots current speed. Already on GitHub? Depending on your top speed and the simulation time used for the DWB controller, you will almost certainly need a larger map if your robot is faster than a turtlebot3. I certainly wouldn't mind adding it, but I would suspect the data in most mobile robot motors is too noisy at the speeds we run at to be meaningfully smoothed to a 3rd derivative. Though enforcing each direction's constraints seems good enough to me unless there's a clear way of doing that demonstrated by another method linked above. An action can be to compute a path, control effort, recovery, or any other navigation related action. With the idea that these kind of things should be handled by a downstream velocity smoother anyways. You signed in with another tab or window. ROS navigation stack with velocity . As well. @SteveMacenski , @AlexeyMerzlyakov or @padhupradheep? Is there one band or multiple? I don't actually understand the difference between the 2 methods you mentioned, can you elaborate on the second point? So, I need to have the node running on its own timer anyway. plotting the cmd_vel shows the linear x jumping between +0.5 and -0.xx. sphinx.ros indigo Packages. Yeah Jerk Limiting is important for us, although not as important as the deadband issue. Kobuki Velocity Smoother [][][][][About. @wilcobonestroo what do you think about that? Nice to know other smart people than me also had to think twice if it was worth going into that level of detail . So it might be that a more manual approach is more appropriate for us, like what @wilcobonestroo is working on? Its being used in MoveIt2 and likely to be added to RPP so if we do other kinematics "stuff" it might be good to use to be consistent with other ecosystem projects. Is jerk limiting important to you? https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother this is what I've used in previous projects in ROS 1, but not sure if this or another (better) version is available in ROS 2. The map can be loaded at launch or generated with SLAM while navigating. I think its a fabulous idea for us to have a reference on in Nav2. Non-SPDX License, Build not available. I have also been playing around some more. abb; abb_driver; abb_irb2400_moveit_config; abb_irb2400_moveit_plugins Applying to 3D (X, Y, Theta) is a pain though, will need to brush up on my vector / trig. In essence, I want the smoother to either command 0.0 or 0.5. See inline description of parameters in the VelocitySmoother. Typically: if you have low rate odometry, you should use open-loop mode or set the smoothing frequency relatively similar to that of your cmd_vel topic. That would get around the numerical differentiation of odometry for closed loop feedback, but then would we be unable to support closed loop feedback? I can pick up this issue and work on a nav2 velocity smoother. It's not an input to Ruckig. I assumed that I would always get a continuous stream of cmd_vel messages. This can be useful when your robot's breaking torque from stand still is non-trivial so sending very small values will pull high amounts of current. Should I put it in its own package or add it to an existing one? It seems to me like that would probably need to be handled at the trajectory planner or hardware controller level so that either (1) you can make trajectories that are themselves already jerk limited or (2) you have access to raw data in the low levels that might be able to better estimate acceleration / jerk. Well occasionally send you account related emails. Nav2 can be used to calculate and execute a travel path for the robot by using a map of its surroundings. But having a target acceleration of 0 seems rational to me, since that means that we achieved the goal velocity and are using it as steady state. In the meanwhile, odom messages can be cached to determine the best odom estimate once a Twist message arrives. Another question: what is the logical way to have this node running? This is signed and thus these should generally all be negative. ros-humble-nav2-velocity-smoother_1.1.2-1jammy.20221019.170612_amd64.deb: 2022-10-19 17:09 : 122K : ros-humble-nav2-velocity-smoother_1.1.2-1jammy.20221019.171440_arm64.deb: 2022-10-19 17:18 : 113K : ros-humble-nav2-velocity-smoother_1.1.2-1jammy.debian.tar.xz: 2022-08-25 13:24 : 2.0K : ros-humble-nav2-velocity-smoother_1.1.2-1jammy.dsc: 2022 . Currently, it is almost following the noisy behavior of the input, because this is within the acceleration limits. You signed in with another tab or window. . they simply apply the rules for linear speed and acceleration to both components. What do you think? I think this question is no longer relevant, but indeed I was hoping Jerk could be handled based on cmd_vel alone rather than trying to measure acceleration based off of sensors / localization estimates. I don't have a strong preference about it, but that is what we do in other nodes, Private -> Protected for class so someone can use this as a base class to add some capability later without forking, Create subs / pubs in activate function (or configure if they are lifecycle pub/subs and, You can probably template the get parameter wrappers you wrote so you have 1 implementation that supports all the types, In header, all functions before all member variables, shutdown / cleanup callbacks need to do the opposite of the configure / activate functions. By clicking Sign up for GitHub, you agree to our terms of service and @wilcobonestroo can you put in a pr? I think in our use case, a deadband from (0.0, 0.5] for cmd_vel would have been useful (linear.x). Sign in It applies limits to linear and angular components of both speed and acceleration. However, I think it would be really interesting to see if we could use ruckig in the trajectory planners or smoothers to work with theoretical trajectories being generated versus involvement of real data. If set much higher, it will interpolate and provide a smooth set of commands to the hardware controller. See other nodes for examples, If you dont activate your network interfaces until, You should always smooth Y, if its always just. When in doubt, open-loop is a reasonable choice for most users. It's really similar to Point 1 except you're not using the Ruckig output, you're using the target state that you provided originally. The nav2_velocity_smoother is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers. In my use case, I do not think multiple deadbands would have been needed. <!--. That helps understanding the deadband issue So there should probably be several options for the behavior in the band. Well another thing to point out is that these all assume independent X, Y, and Theta velocity channels. Moreover, I did not include the deadband yet and I dont know how (or where) to write the documentation. That would be fine to do, so you could make some functions that take in the min/max values (or probably a struct containing them) and then pass in each axis into them separately to smooth independently. So for closed-loop set them all to 0-s since we can't estimate them reliably? So, in theory you can have a total combined linear speed larger than the max linear speed (e.g. Maybe this would just be something of this sorts: "if my current velocity is in the deadband range, do not apply the acceleration limit based on odom, but rather apply the acceleration limit based only on cmd, or maybe do not apply the acceleration limit at all". Merging imminent, thanks @vinnnyr for bringing up this gap. What is/was your game plan there? The cob_base_velocity_smoother package provides two implementations for a velocity smoother that both read velocity messages (geometry_msgs::Twist) and then publish messages of the same type for "smoothed" velocity to avoid jerky behavior. This allows us to interpolate commands at a higher frequency than Nav2's local trajectory planners can provide. Updated: Dec 1, 2022 / 08:22 PM MST. Ps. Minimum acceleration to apply to each axis [x, y, theta]. See the packages README for more information. We don't have access to that information reliably unless we numerically differentiate the odometry which is unstable for closed-loop feedback. Whether or not to adjust other components of velocity proportionally to a components required changes due to acceleration limits. Code is at: https://github.com/wilcobonestroo/navigation2/tree/add-velocity-smoother, Awesome! It is possible to also simply run the smoother at cmd_vel rate to smooth velocities alone without interpolation. We would give RPP a reasonable acceleration limit, but since that robot did not have a lot of control regime in the low end of velocity inputs, getting the robot to start would be tough. Though in doing so, I don't think its reasonable to try to limit jerk if our own inputs and outputs are just Twist and Odometry, we don't have any acceleration information, let alone jerk. we assume the last timestep we met the required state and so we can store the last iteration's velocity/acceleration/jerk to use as the "current" in the next timestep). Launching Navigation Launch files Nav Bringup: Launches Nav2 nodes, with the option to launch SLAM or Localization as well. If we added some machine learning or heavy sampling based trajectory planners, I think ruckig would really shine. I don't think this is an issue because the velocity smoother is being applied to the commanded velocities, not the measured ones from the robot. For setting the current acceleration / jerk, I suppose we could set them all to 0 across the board and then the trajectory generated would assume the extremes for starting/stopping the trajectory. This is in contrast to simply computing a smoothed velocity command in the callback of each cmd_vel input from Nav2. An area I could see ruckig being really nice for is if we had a post-trajectory planning step to take trajectories from local planners and smoothed them out using ruckig. @vinnnyr how do you feel about jerk ( see last comment), I started to play with this using ruckig just to see how / if it would work. Although, for the frequency that the local planners are updated at, this might be overkill, but I think its the most appropriate place for it in the mobile robot stack (which would be relatively analog to MoveIt's use of it as well). By default, the turtlebot3 configuration uses a 3x3 meter costmap, which is pretty small. so that you wouldn't be double differentiating noisy velocity data? The two nodes available are: cob_base_velocity_smoother velocity_smoother Hardware Requirements Is this behavior ok? I think we can add jerk limits as an option. Small correction here: Ruckig doesn't care what the current jerk of the robot is. I can also do something like this with a buffer for the cmd_vel messages. nav2-amcl. See the Navigation Plugin list for a list of the currently known and available smoother plugins. I have some initial smoothing attempts going on , they treat the x and y as independent things to control. Though if we do a trivial v min / max = v0 +/- a * t calculation for thresholding, it's not really taking the current acceleration into account either. The velocity smoother in the version of Regulated Pure Pursuit (RPP) was in odometry mode. In closed loop mode, it is important that the odometry is high rate and low latency, relative to the smoothing frequency. Thanks @AndyZe for the information and help! But I could be totally wrong and definitely not opposed if there's a need. Failed to get question list, you can ticket an issue here, a community-maintained index of robotics software I'll keep this tool in my back pocket though. ROS 2 package for smoothing commanded velocities represented by a stream of geometry_msg/msg/Twist messages. What would be a good name for the package? Have a question about this project? I know this is a usual need for manipulation and high-speed driving. While we make it possible to specify these separately, most users would be wise to set these values the same (but signed) for rotation. | privacy, https://github.com/ros-planning/navigation2.git. I'm back from PTO now and will take a look tomorrow or the next day. I feel like this shouldn't be a technology mismatch, but might end up being. Maintainer: Jihoon Lee <jihoonl AT yujinrobot DOT com> Author: Jorge Santos Simon License: BSD Bug / feature tracker: https://github.com/yujinrobot/yujin_ocs/issues What should happen if the orginal cmd_vel is in the deadband? I see that the Kobuko package has 3 options for input: none, odometry and commanded velocities. If you have high rate odometry, you can use closed-loop mode with a higher smoothing frequency since you'll have more up to date information to smooth based off of. I'm also now thinking if, for illustration purposes, we had a trajectory planner giving us a cmd_vel at 1hz and we have a smoother at 100hz. I think the big thing would be to look over the other methods and make sure this is the "best" of them or if there are features the others have, we adopt those into the port (e.g. I need to do some thinking on that, but that feels analogous to the ruckig setting all current accelerations to 0. I think this is a good idea. @AndyZe over at PickNik is using Ruckig for MoveIt2, maybe he has some thoughts to share? I would suspect the data in most mobile robot motors is too noisy at the speeds we run at to be meaningfully smoothed to a 3rd derivative. In open-loop, the node assumes that the robot was able to achieve the velocity send to it in the last command which was smoothed (which should be a good assumption if acceleration limits are set properly). (PALMER LAKE, Colo.) The Palmer Lake Police Department (PLPD) arrested a man on Thursday, Dec. 1 for making a credible threat to occupants of a commercial . In the three implementations mentioned above I only see speed limits and acceleration limits. Would we rather smoothly and slowly, below the kinematic limits of the robot's acceleration, wait the full 1s to get to the target speed, or get there as quickly as possible and maintain state. 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