Update documentation for deceleration max for Graceful Controller (#909)

* Update documentation for deceleration max for Graceful Controller

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

* Update configuration/packages/configuring-docking-server.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update configuration/packages/configuring-graceful-motion-controller.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Author: SakshayMahna

configuration/packages/configuring-docking-server.rst

@@ -327,6 +327,17 @@ Parameters
   Description
     Radius to end goal to commense slow down.
 
+:controller.deceleration_max:
+
+  ============== ==============
+  Type           Default
+  -------------- --------------
+  double         2.5
+  ============== ==============
+
+  Description
+    Maximum deceleration (m/s²) used to compute a velocity limit based on distance to the goal.
+
 :controller.rotate_to_heading_angular_vel:
 
   ============== ==============
@@ -740,6 +751,7 @@ Example
           v_linear_max: 0.15
           v_angular_max: 0.75
           slowdown_radius: 0.25
+          deceleration_max: 2.5
           rotate_to_heading_angular_vel: 1.0
           rotate_to_heading_max_angular_accel: 3.2
           use_collision_detection: true

configuration/packages/configuring-graceful-motion-controller.rst

@@ -135,6 +135,17 @@ Graceful Controller Parameters
   Description
     Radius (m) around the goal pose in which the robot will start to slow down.
 
+:deceleration_max:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         2.5
+  ============== =============================
+
+  Description
+    Maximum deceleration (m/s²) used to compute a velocity limit based on distance to the goal.
+
 :initial_rotation:
 
   ============== =============================
@@ -318,6 +329,7 @@ Example
         v_angular_max: 5.0
         v_angular_min_in_place: 0.25
         slowdown_radius: 1.5
+        deceleration_max: 2.5
         footprint_scaling_linear_vel: 0.5
         footprint_scaling_factor: 0.25
         footprint_scaling_step: 0.1