Hello, So i have a general question, over the past two years i have been working on ROS(melodic) based robots, but recently i am pushing to create a robot which is bigger, heavier, and has considerable speed, 1 m/s or more. what are some tips, my initial tests has shown that when i keep speed around 0.5 m/s max, and let my robot work, it does not work smoothly, it has jerks, abrupt acceleration , stoppages etc. is making a real robust robot difficult with current ROS capabilities, if not what are some steps to be taken care of ?