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ros-controls · Nov 22, 2024 · 8f2bb1f · 8f2bb1f
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diff --git a/doc/migration.rst b/doc/migration.rst
@@ -8,6 +8,7 @@ This list summarizes important changes between Iron (previous) and Jazzy (curren
 diff_drive_controller
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 * The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
+* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
 
 joint_trajectory_controller
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diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -12,6 +12,8 @@ diff_drive_controller
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 * The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
 * Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/pull/958>`_).
+* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
+* Parameters ``max_acceleration_reverse`` and ``max_deceleration_reverse`` were added to configure asymmetric acceleration/deceleration behavior. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
 
 joint_trajectory_controller
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