[MPPI] Acceleration constraint

[emilnovak]

Feature request

Feature description

Using MPPI we encountered an issue where our robot's wheels were slipping. Limiting acceleration with velocity_smoother resulted in oversteering. After some testing and tuning we concluded that for robots using MPPI with relatively high speed and non-negligible inertia, respecting acceleration and deceleration limits would be beneficial. Is this conclusion reasonable?

Implementation considerations

As mentioned in Issue #3351 Potential MPPI Controller Improvements a new constrained motion model is needed similar to the AckermannMotionModel where a filter would be applied to clamp extreme acceleration values.

@doisyg, since you were tagged in #3351 for this feature, I would like to ask if you are planning on implementing this feature? My team would be happy to help realizing this feature as soon as we can.

[doisyg]

I would love to have strict kinematics constraints in MPPI but I think you can workaround it at the moment by tuning the other critics (at least that what we do).
I don't plan to work on it anytime soon on this feature. By I would be happy to evaluate it ;)

[SteveMacenski]

Dont duplicate file tickets. As you linked to, that task is in our issue tracker already. I agree acceleration constraints would be nice. If you’re open to contributing that, please follow up there!