Fixed some comment errors and typos

docs/included_plugins/diff_drive.rst

@@ -97,12 +97,12 @@ velocities and odometries are w.r.t. the robot origin
       # sets dynamics constraints on angular velocity, acceleration (in rads/sec; rads/sec/sec)
       angular_dynamics:
         acceleration_limit: 0.0   # max acceleration (away from 0), in rads/s/s; 0.0 means "no limit"
-        deceleration_limit: 0.0  # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
+        deceleration_limit: 0.0   # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
         velocity_limit: 0.0       # max absolute velocity in rads/s; 0.0 means "no limit"
 
       # optional, defaults each parameter to 0.0 which means "no limit"
       # sets dynamics constraints on linear velocity, acceleration (in m/s; m/s/s)
       linear_dynamics:
         acceleration_limit: 0.0   # max acceleration (away from 0), in m/s/s; 0.0 means "no limit"
-        deceleration_limit: 0.0  # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
+        deceleration_limit: 0.0   # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
         velocity_limit: 0.0       # max absolute velocity in m/s; 0.0 means "no limit"

docs/included_plugins/tricycle_drive.rst

@@ -126,14 +126,14 @@ has no effect on the actual motion of the robot.
       # sets dynamics constraints on angular velocity, acceleration (in rads/sec; rads/sec/sec)
       angular_dynamics:
         acceleration_limit: 0.0   # max acceleration (away from 0), in rads/s/s; 0.0 means "no limit"
-        deceleration_limit: 0.0  # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
+        deceleration_limit: 0.0   # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
         velocity_limit: 0.0       # max absolute velocity in rads/s; 0.0 means "no limit"
 
       # optional, defaults each parameter to 0.0 which means "no limit"
       # sets dynamics constraints on linear velocity, acceleration (in m/s; m/s/s)
       linear_dynamics:
         acceleration_limit: 0.0   # max acceleration (away from 0), in m/s/s; 0.0 means "no limit"
-        deceleration_limit: 0.0  # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
+        deceleration_limit: 0.0   # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
         velocity_limit: 0.0       # max absolute velocity in m/s; 0.0 means "no limit"
         
 

flatland_plugins/test/dynamics_limits_test.cpp

@@ -92,7 +92,7 @@ TEST(DynamicsLimitsTest, test_Configure_two_params) {
 
   // Ensure defaults are zero
   EXPECT_NEAR(0.1, dynamics_limits.acceleration_limit_, 1e-3);
-  // deccelleration cap defaults to accleration cap if not set
+  // deceleration cap defaults to accleration cap if not set
   EXPECT_NEAR(0.1, dynamics_limits.deceleration_limit_, 1e-3);
   EXPECT_NEAR(2.0, dynamics_limits.velocity_limit_, 1e-3);
 }
@@ -192,9 +192,9 @@ TEST(DynamicsLimitsTest, test_Limit_acceleration) {
   EXPECT_NEAR(0.45, result, 1e-3);
   result = dynamics_limits.Limit(1.0, 0.0, 0.05);  // Try to decelerate at -20m/s/s, when the limit is 9
   EXPECT_NEAR(0.55, result, 1e-3);
-  result = dynamics_limits.Limit(10.0, 0.0, 0.05);  // Try to decelerate at -20m/s/s, when the limit is 9
+  result = dynamics_limits.Limit(10.0, 0.0, 0.05);  // Try to decelerate at -200m/s/s, when the limit is 9
   EXPECT_NEAR(9.55, result, 1e-3);
-  result = dynamics_limits.Limit(-10.0, 0.0, 0.05);  // Try to decelerate at 20m/s/s, when the limit is 9
+  result = dynamics_limits.Limit(-10.0, 0.0, 0.05);  // Try to decelerate at 200m/s/s, when the limit is 9
   EXPECT_NEAR(-9.55, result, 1e-3);
   result = dynamics_limits.Limit(5, -5, 0.05);  // Try to decelerate at 20m/s/s, when the limit is 9
   EXPECT_NEAR(4.55, result, 1e-3);