`max_deceleration_reverse` parameter does not default to `max_deceleration`

[Timple]

It's promised here:

ros2_controllers/diff_drive_controller/src/diff_drive_controller_parameter.yaml

Line 157 in ec198b1

description: "Maximum deceleration in reverse direction. If not set, -max_deceleration will be used.",

The first nan check happens here I think:

https://github.com/ros-controls/control_toolbox/blob/33843ee427db3bf12d159995754580e2d5387066/control_toolbox/include/control_toolbox/rate_limiter.hpp#L210..L213

    if (std::isnan(max_first_derivative_neg_))
    {
      max_first_derivative_neg_ = max_first_derivative_pos_;
    }

Which is not the implementation promised.

[thedevmystic]

Indeed, this seems like a inconsistency, it should be,

  if (std::isnan(max_first_derivative_neg_))
  {
    // Correct: reverse-direction positive limit = negative of forward positive limit
    max_first_derivative_neg_ = -max_first_derivative_pos_;
  }
  if (std::isnan(min_first_derivative_pos_))
  {
    // Correct: reverse-direction negative limit = negative of forward negative limit
    min_first_derivative_pos_ = -min_first_derivative_neg_;
  }

I think this fixes the promise and aligns it with documented expectations.

[christophfroehlich]

This sounds fine, can you open a PR please to fix this?