Separate linear and angular min/max values in DiffDrive

[roni-kreinin]

Desired behavior

Currently the min/max velocity, acceleration, and jerk parameters are applied to both linear and angular vel/accel/jerk. It would be useful to separate linear and angular as you often want different values for these.

Implementation suggestion

Separate the parameters into:

• min_linear_velocity
• max_linear_velocity
• min_angular_velocity
• max_angular_velocity
• min_linear_acceleration
• max_linear_acceleration
• min_angular_acceleration
• max_angular_acceleration
• min_linear_jerk
• max_linear_jerk
• min_angular_jerk
• max_angular_jerk

[roni-kreinin]

Added PR. See #1229

[chapulina]

Thanks for the PR. For completeness, we should apply the same fix to all other controllers. I'll leave this issue open until they're all addressed:

• AckerMannSteering
• MecanumDrive