velocity-smoother

You smooth cmd_vel by placing a velocity smoother between the Nav2 controller and actuators. It buffers velocity commands and applies max_accel and max_decel limits per axis to gradually reach target velocities, reducing mechanical stress.

Odometry feedback is optional for velocity smoothing. The smoother supports open-loop operation without odometry, but can read from an odom_topic for closed-loop feedback to refine velocity calculations using a specified odom_duration.

You configure acceleration limits for differential-drive robots by setting smoothing_frequency, max_accel, max_decel, and deadband_velocity parameters. The smoother integrates between cmd_vel_nav and cmd_vel_smoothed in Nav2 pipelines to improve stability.

Velocity smoothing applies to both real robots and simulations in Nav2-based stacks. It acts as a buffer between the controller and actuators, ensuring stable motion by enforcing rate limits regardless of the operating environment.

To preserve trajectory while smoothing velocity commands, enable the optional scale_velocities parameter. This ensures the robot maintains its intended path while the smoother enforces acceleration and deceleration limits on the cmd_vel output.