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OK, you're actually right here because dt is being computed based on the simulation granularity, and not the controller_frequency. This is important for safety, but in some cases, you're right that it would lead to a very short TR style simulation before the desired velocity is reached. You're also right that the dwa_local_planner doesn't do this TR simulation up to the desired speed, though to be more correct in terms of simulating what the robot will actually do based on acceleration limits, it probably should. However, I doubt that this short TR simulation, or lack there of in the dwa_local_planner, has any noticeable affect on performance. If a change were to be made, it'd probably be most proper to have the dwa_local_planner use the acceleration limits when forward simulating to ramp up to its desired speed.