Documentation for acceleration limits in DriveOnHeading and BackUp behaviors (#634)

* Add new params to docs

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix star number

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update minimum speed descriptions

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix backup acc params' descriptions

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Author: RBT22

configuration/packages/configuring-behavior-server.rst

@@ -271,6 +271,39 @@ Backup distance, speed and time_allowance is given from the action request.
     True uses TwistStamped, false uses Twist.
     Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
+:backup.acceleration_limit:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         2.5
+  ============== =============================
+
+  Description
+    Maximum acceleration limit (m/s^2). This parameter limits the rate at which speed increases when moving backward.
+
+:backup.deceleration_limit:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         -2.5
+  ============== =============================
+
+  Description
+    Maximum deceleration limit (m/s^2). Negative value. This parameter limits the rate at which speed decreases when moving backward.
+
+:backup.minimum_speed:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.10
+  ============== =============================
+
+  Description
+    Minimum speed to move, the deadband velocity of the robot behavior (m/s). Positive value.
+
 DriveOnHeading Behavior Parameters
 **********************************
 
@@ -311,6 +344,39 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   Description
     The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
+:drive_on_heading.acceleration_limit:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         2.5
+  ============== =============================
+
+  Description
+    Maximum acceleration limit (m/s^2).
+
+:drive_on_heading.deceleration_limit:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         -2.5
+  ============== =============================
+
+  Description
+    Maximum deceleration limit (m/s^2). Negative value.
+
+:drive_on_heading.minimum_speed:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.10
+  ============== =============================
+
+  Description
+    Minimum speed to move, the deadband velocity of the robot behavior (m/s). Positive value.
+
 AssistedTeleop Behavior Parameters
 **********************************
 

migration/Jazzy.rst

@@ -253,3 +253,11 @@ MPPI controller re-implemented using Eigen library and performance improved by 4
 
 In the `PR #4621 <https://github.com/ros-navigation/navigation2/pull/4621>`_ MPPI controller is fully reimplemented using Eigen as it is well supported hpc library and suits better for our use case of two dimensional batches of trajectories. GPU support for rolling out trajectories could also be possible in future using Eigen.
 MPPI Optimizer's performance is improved by 40-50%. Now MPPI Controller can also be run on ARM processors which do not support SIMD Instructions extensively. 
+
+DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
+*************************************************************************
+`PR #4810 <https://github.com/ros-navigation/navigation2/pull/4810>`_ adds new parameters ``acceleration_limit``, ``deceleration_limit``, ``minimum_speed`` for the `DriveOnHeading` and `BackUp` Behaviors. The default values are as follows:
+
+- ``acceleration_limit``: 2.5
+- ``deceleration_limit``: -2.5
+- ``minimum_speed``: 0.10