Navigation stack velocity setpoint

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Look a little more more closely at:

http://wiki.ros.org/base_local_planne...

~<name>/acc_lim_x (double, default: 2.5)

    The x acceleration limit of the robot in meters/sec^2 

~<name>/acc_lim_y (double, default: 2.5)

    The y acceleration limit of the robot in meters/sec^2 

~<name>/acc_lim_theta (double, default: 3.2)

    The rotational acceleration limit of the robot in radians/sec^2

I believe these parameters affect the trajectories that are evaluated by the controller.