feat: add acceleration/deceleration limits

[Nisarg236]

This pr adds ability to constrain acceleration to provide smooth commands which the robot can actually follow. This pr also adds ability to add deceleration limits to angular velocity which is not there in nav2 which works as below.

0 to angular vel -> constrain with max angular acceleration
0 to - angular vel -> constrain with max angular acceleration
+angular vel to 0 -> constrain with max angular deceleration
- angular vel to 0 -> constrain with max angular deceleration

Also there have been some fixes related to acceleration in nav2 which I have considered here. The result looks nice and smooth.

There is some overshoot at the end but it could be related to other params which need to be tuned or sim localization jumps, need to test on real robot...

simplescreenrecorder-2026-06-04_15.29.02.mp4

simplescreenrecorder-2026-06-04_15.49.08.mp4

[deeparaj24]

@Nisarg236 Is this the PR that was back-ported
ros-navigation/navigation2#6072

[Nisarg236]

yes that one