It seems PositionJointSaturationInterface and PositionSoftLimitsInterface entirely ignore the presence of has_acceleration_limits and max_acceleration, and immediately command the robot to go at the max velocity when a new target is set.
I'd be interested to think about adding support for these interfaces to read and use acceleration limits. Let me know if that is of interest.
It seems PositionJointSaturationInterface and PositionSoftLimitsInterface entirely ignore the presence of has_acceleration_limits and max_acceleration, and immediately command the robot to go at the max velocity when a new target is set.
I'd be interested to think about adding support for these interfaces to read and use acceleration limits. Let me know if that is of interest.