Local planner that takes inertia into account?

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Hi,

I am wondering if there is a local planner that takes inertia into account?
The base_local_planner at least takes acceleration limits but deceleration limits don't matter.
Am I right here?

So is there a planner that knows about the inertia of the robot?
Because my robot is very lazy and it takes time to switch from turning left to turning right.
So the base_local_planner is mostly oversteering.