Howdy, Your Friendly Neighborhood Navigator here,
I wanted to point out a new Open Navigation blog post where I walk through how we’re supporting low and asymmetric dynamic limits in Nav2’s MPPI for large, high-inertia vehicles which need to carefully accelerate and decelerate due to safety and physical limits!
This work was motivated by Dexory’s massive vehicle that needs to safely navigate in confined environments 24/7. Hopefully looking at it you can see why this is important/necessary 
This can help shed some light on the inner workings of MPPI and some process we use to debug and solve key challenges in state of the art algorithms in ROS 2’s Nav2 ecosystem – for those interested in such things
Happy accelerating (slowly),
Steve