[RPP] Make new deceleration on cancelation an option

[SteveMacenski]

Create a parameter for if we should cancel using deceleration (default true), then use that in the logic introduced in #4136 to bypass if needed

Finally, add the new parameter to documentation & add the new param to the RPP deceleration migration guide entry

[doisyg]

Maybe we could just use cancel_deceleration < 0.0 for disabling the behavior

[tanmay-dhasade]

Hi @SteveMacenski, I am new to open source contributions and would like to work on this, wanted to check in if someone is already working on this? Thanks

[jwdinius]

Let's say that a developer sets the value of the proposed parameter, call it apply_cancel_deceleration, to false, what should linear_vel be set to when cancelling_ is true (see here)? 0?

[doisyg]

Let's say that a developer sets the value of the proposed parameter, call it apply_cancel_deceleration, to false, what should linear_vel be set to when cancelling_ is true (see here)? 0?

I would say 0.0, as before the cancel_deceleration was introduced

(also consider not using a new parameter but just cancel_deceleration < 0.0)

[SteveMacenski]

@tanmay-dhasade no one is working on it yet, this would be a great first contribution!