I'm trying to build a differential drive robot, and I've been using this tutorial: https://www.theconstructsim.com/how-to-build-a-differential-drive-simulation/

However, I'm now required to find a way to control this robot's acceleration, not its velocity. Is there a different plugin out there that allows the user to control the acceleration? Is there a way to access the acceleration controls that lie under the surface in the standard differentialdrivecontroller (libgazeborosdiff_drive.so)?

Any guidance would be very much appreciated.