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I am using the Carter robot and want to manipulate it back and forth using cmd_vel topic.

While testing with multiple commands, when I publish the joint twist message such as x: 0.5 and then x: -0.5, the robot rattles and then goes backward.

I want to add some deceleration functions and want to know where I can find some hints to implement them.

Thanks!

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This seems more like a robot motor controller gain tuning issue than a cmd_vel one, look in the control loop on your microcontroller/motor controller.

At least on the standard Twist messages sent alongside cmd_vel, there aren't any fields for acceleration.

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