diff_drive_controller ignores acceleration limits

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Hello community,

I have a real 2-wheeled robot and use diff_drive_controller. I'm able to drive around using teleop. It seems to work so far. But I'm curious about max_jerk and max_acceleration setting as they are not used for some reason. I tried different values and now even very low values but it doesn't make any difference.

From my understanding, diff_drive_controller subscribes to /cmd_vel and translate this to separate commands for each joint(wheel).

So when the current linear velocity is 0m/s and I publish a message to /cmd_vel telling to set linear velocity to 1m/s, robot instantly drives whith this speed. If I switch between forward/backward with max velocity, it jumps around.

My assumption is that diff_drive_controller takes care of acceleration limits resulting in a smooth movement of robot. I tried different max_velocity values just for check and these are used by diff_drive_controller

Any ideas of what is wrong here?

    hoverboard_joint_publisher:
  type: "joint_state_controller/JointStateController"
  publish_rate: 50
  left_wheel  : 'left_wheel'
  right_wheel : 'right_wheel'

hoverboard_velocity_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'left_wheel'
  right_wheel : 'right_wheel'
  publish_rate: 50.0               # default: 50
  pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 0.32
  wheel_radius : 0.0825

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.5

  # Base frame_id
  base_frame_id: base_footprint #default: base_link
  allow_multiple_cmd_vel_publishers: true
  odom_frame_id: '/raw_odom'
  enable_odom_tf: false

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 0.5  # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.01  # m/s^2
      has_jerk_limits        : true
      max_jerk               : 0.001  # m/s^3
  angular:
    z:
      has_velocity_limits    : true # was true
      max_velocity           : 6.28  # rad/s
      has_acceleration_limits: true # was true
      max_acceleration       : 1.04  # rad/s^2
      has_jerk_limits        : true
      max_jerk               : 3.14  # rad/s^3

This is how launch file looks like

<launch>
    <rosparam file="$(find hoverboard_driver)/config/hardware.yaml" command="load"/>
    <rosparam file="$(find hoverboard_driver)/config/controllers.yaml" command="load"/>

      <!-- PS4 joypad -->
  <remap from="/cmd_vel" to="/hoverboard_velocity_controller/cmd_vel"/>    
  <include file="$(find ds4_driver)/launch/ds4_twist.launch">
    <arg name="dof" value="2"/>
    <!--<arg name="topic" value="joy_vel"/> -->

  </include>


    <node name="hoverboard_driver" pkg="hoverboard_driver" type="hoverboard_driver" output="screen"/>
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/"
        args="hoverboard_joint_publisher hoverboard_velocity_controller" />
</launch>

rostopic list:

ubuntu@ubuntu:~$ rostopic list
/hoverboard/battery_voltage
/hoverboard/left_wheel/cmd
/hoverboard/left_wheel/position
/hoverboard/left_wheel/velocity
/hoverboard/right_wheel/cmd
/hoverboard/right_wheel/position
/hoverboard/right_wheel/velocity
/hoverboard/temperature
/hoverboard_velocity_controller/cmd_vel
/hoverboard_velocity_controller/odom
/hoverboard_velocity_controller/parameter_descriptions
/hoverboard_velocity_controller/parameter_updates
/joint_states
/pid/left/parameter_descriptions
/pid/left/parameter_updates
/pid/right/parameter_descriptions
/pid/right/parameter_updates
/rosout
/rosout_agg
/tf

Here the output of /joint_state. At beginning, robots velocity is set to 0m/s and ... (more)