diff --git a/joint_limits/include/joint_limits/joint_limits.hpp b/joint_limits/include/joint_limits/joint_limits.hpp
index fffab7a841..809bfd777b 100644
--- a/joint_limits/include/joint_limits/joint_limits.hpp
+++ b/joint_limits/include/joint_limits/joint_limits.hpp
@@ -38,11 +38,13 @@ struct JointLimits
     max_position(std::numeric_limits<double>::quiet_NaN()),
     max_velocity(std::numeric_limits<double>::quiet_NaN()),
     max_acceleration(std::numeric_limits<double>::quiet_NaN()),
+    max_deceleration(std::numeric_limits<double>::quiet_NaN()),
     max_jerk(std::numeric_limits<double>::quiet_NaN()),
     max_effort(std::numeric_limits<double>::quiet_NaN()),
     has_position_limits(false),
     has_velocity_limits(false),
     has_acceleration_limits(false),
+    has_deceleration_limits(false),
     has_jerk_limits(false),
     has_effort_limits(false),
     angle_wraparound(false)
@@ -53,12 +55,14 @@ struct JointLimits
   double max_position;
   double max_velocity;
   double max_acceleration;
+  double max_deceleration;
   double max_jerk;
   double max_effort;
 
   bool has_position_limits;
   bool has_velocity_limits;
   bool has_acceleration_limits;
+  bool has_deceleration_limits;
   bool has_jerk_limits;
   bool has_effort_limits;
   bool angle_wraparound;
@@ -73,6 +77,8 @@ struct JointLimits
               << max_velocity << "]\n";
     ss_output << "  has acceleration limits: " << (has_acceleration_limits ? "true" : "false")
               << " [" << max_acceleration << "]\n";
+    ss_output << "  has deceleration limits: " << (has_deceleration_limits ? "true" : "false")
+              << " [" << max_deceleration << "]\n";
     ss_output << "  has jerk limits: " << (has_jerk_limits ? "true" : "false") << " [" << max_jerk
               << "]\n";
     ss_output << "  has effort limits: " << (has_effort_limits ? "true" : "false") << " ["
diff --git a/joint_limits/include/joint_limits/joint_limits_rosparam.hpp b/joint_limits/include/joint_limits/joint_limits_rosparam.hpp
index 6e0b66641e..5d1fd6a1f7 100644
--- a/joint_limits/include/joint_limits/joint_limits_rosparam.hpp
+++ b/joint_limits/include/joint_limits/joint_limits_rosparam.hpp
@@ -62,6 +62,8 @@ namespace joint_limits
  *   max_velocity: double
  *   has_acceleration_limits: bool
  *   max_acceleration: double
+ *   has_deceleration_limits: bool
+ *   max_deceleration: double
  *   has_jerk_limits: bool
  *   max_jerk: double
  *   has_effort_limits: bool
@@ -101,6 +103,9 @@ inline bool declare_parameters(
     auto_declare<bool>(param_itf, param_base_name + ".has_acceleration_limits", false);
     auto_declare<double>(
       param_itf, param_base_name + ".max_acceleration", std::numeric_limits<double>::quiet_NaN());
+    auto_declare<bool>(param_itf, param_base_name + ".has_deceleration_limits", false);
+    auto_declare<double>(
+      param_itf, param_base_name + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
     auto_declare<bool>(param_itf, param_base_name + ".has_jerk_limits", false);
     auto_declare<double>(
       param_itf, param_base_name + ".max_jerk", std::numeric_limits<double>::quiet_NaN());
@@ -173,6 +178,8 @@ inline bool declare_parameters(
  *   max_velocity: double
  *   has_acceleration_limits: bool
  *   max_acceleration: double
+ *   has_deceleration_limits: bool
+ *   max_deceleration: double
  *   has_jerk_limits: bool
  *   max_jerk: double
  *   has_effort_limits: bool
@@ -194,6 +201,8 @@ inline bool declare_parameters(
  *         max_velocity: 2.0
  *         has_acceleration_limits: true
  *         max_acceleration: 5.0
+ *         has_deceleration_limits: true
+ *         max_deceleration: 7.5
  *         has_jerk_limits: true
  *         max_jerk: 100.0
  *         has_effort_limits: true
@@ -231,6 +240,8 @@ inline bool get_joint_limits(
       !param_itf->has_parameter(param_base_name + ".max_velocity") &&
       !param_itf->has_parameter(param_base_name + ".has_acceleration_limits") &&
       !param_itf->has_parameter(param_base_name + ".max_acceleration") &&
+      !param_itf->has_parameter(param_base_name + ".has_deceleration_limits") &&
+      !param_itf->has_parameter(param_base_name + ".max_deceleration") &&
       !param_itf->has_parameter(param_base_name + ".has_jerk_limits") &&
       !param_itf->has_parameter(param_base_name + ".max_jerk") &&
       !param_itf->has_parameter(param_base_name + ".has_effort_limits") &&
@@ -315,6 +326,24 @@ inline bool get_joint_limits(
     }
   }
 
+  // Deceleration limits
+  if (param_itf->has_parameter(param_base_name + ".has_deceleration_limits"))
+  {
+    limits.has_deceleration_limits =
+      param_itf->get_parameter(param_base_name + ".has_deceleration_limits").as_bool();
+    if (
+      limits.has_deceleration_limits &&
+      param_itf->has_parameter(param_base_name + ".max_deceleration"))
+    {
+      limits.max_deceleration =
+        param_itf->get_parameter(param_base_name + ".max_deceleration").as_double();
+    }
+    else
+    {
+      limits.has_deceleration_limits = false;
+    }
+  }
+
   // Jerk limits
   if (param_itf->has_parameter(param_base_name + ".has_jerk_limits"))
   {
diff --git a/joint_limits/test/joint_limits_rosparam.yaml b/joint_limits/test/joint_limits_rosparam.yaml
index 521fbf93f8..9088610d17 100644
--- a/joint_limits/test/joint_limits_rosparam.yaml
+++ b/joint_limits/test/joint_limits_rosparam.yaml
@@ -10,6 +10,8 @@ JointLimitsRosparamTestNode:
         max_velocity: 2.0
         has_acceleration_limits: true
         max_acceleration: 5.0
+        has_deceleration_limits: true
+        max_deceleration: 7.5
         has_jerk_limits: true
         max_jerk: 100.0
         has_effort_limits: true
@@ -26,6 +28,7 @@ JointLimitsRosparamTestNode:
         has_position_limits: true
         has_velocity_limits: true
         has_acceleration_limits: true
+        has_deceleration_limits: true
         has_jerk_limits: true
         has_effort_limits: true
 
@@ -35,6 +38,7 @@ JointLimitsRosparamTestNode:
         max_position: 1.0
         max_velocity: 2.0
         max_acceleration: 5.0
+        max_deceleration: 7.5
         max_jerk: 100.0
         max_effort: 20.0
 
@@ -43,6 +47,7 @@ JointLimitsRosparamTestNode:
         has_position_limits: false
         has_velocity_limits: false
         has_acceleration_limits: false
+        has_deceleration_limits: false
         has_jerk_limits: false
         has_effort_limits: false
         angle_wraparound: true  # should be accepted, has no position limits
diff --git a/joint_limits/test/joint_limits_rosparam_test.cpp b/joint_limits/test/joint_limits_rosparam_test.cpp
index c5ddb8f585..5f376562a6 100644
--- a/joint_limits/test/joint_limits_rosparam_test.cpp
+++ b/joint_limits/test/joint_limits_rosparam_test.cpp
@@ -54,6 +54,8 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_TRUE(std::isnan(limits.max_velocity));
     EXPECT_FALSE(limits.has_acceleration_limits);
     EXPECT_TRUE(std::isnan(limits.max_acceleration));
+    EXPECT_FALSE(limits.has_deceleration_limits);
+    EXPECT_TRUE(std::isnan(limits.max_deceleration));
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_TRUE(std::isnan(limits.max_jerk));
     EXPECT_FALSE(limits.has_effort_limits);
@@ -76,6 +78,8 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_TRUE(std::isnan(limits.max_velocity));
     EXPECT_FALSE(limits.has_acceleration_limits);
     EXPECT_TRUE(std::isnan(limits.max_acceleration));
+    EXPECT_FALSE(limits.has_deceleration_limits);
+    EXPECT_TRUE(std::isnan(limits.max_deceleration));
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_TRUE(std::isnan(limits.max_jerk));
     EXPECT_FALSE(limits.has_effort_limits);
@@ -100,6 +104,9 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_TRUE(limits.has_acceleration_limits);
     EXPECT_EQ(5.0, limits.max_acceleration);
 
+    EXPECT_TRUE(limits.has_deceleration_limits);
+    EXPECT_EQ(7.5, limits.max_deceleration);
+
     EXPECT_TRUE(limits.has_jerk_limits);
     EXPECT_EQ(100.0, limits.max_jerk);
 
@@ -120,6 +127,7 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_FALSE(limits.has_position_limits);
     EXPECT_FALSE(limits.has_velocity_limits);
     EXPECT_FALSE(limits.has_acceleration_limits);
+    EXPECT_FALSE(limits.has_deceleration_limits);
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_FALSE(limits.has_effort_limits);
   }
@@ -134,6 +142,7 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_FALSE(limits.has_position_limits);
     EXPECT_FALSE(limits.has_velocity_limits);
     EXPECT_FALSE(limits.has_acceleration_limits);
+    EXPECT_FALSE(limits.has_deceleration_limits);
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_FALSE(limits.has_effort_limits);
   }
@@ -147,6 +156,7 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_TRUE(limits.has_position_limits);
     EXPECT_TRUE(limits.has_velocity_limits);
     EXPECT_TRUE(limits.has_acceleration_limits);
+    EXPECT_TRUE(limits.has_deceleration_limits);
     EXPECT_TRUE(limits.has_jerk_limits);
     EXPECT_TRUE(limits.has_effort_limits);
 
@@ -156,6 +166,7 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_FALSE(limits.has_position_limits);
     EXPECT_FALSE(limits.has_velocity_limits);
     EXPECT_FALSE(limits.has_acceleration_limits);
+    EXPECT_FALSE(limits.has_deceleration_limits);
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_FALSE(limits.has_effort_limits);
     EXPECT_TRUE(limits.angle_wraparound);
@@ -191,6 +202,9 @@ TEST_F(JointLimitsRosParamTest, parse_joint_limits)
     EXPECT_FALSE(limits.has_acceleration_limits);
     EXPECT_TRUE(std::isnan(limits.max_acceleration));
 
+    EXPECT_FALSE(limits.has_deceleration_limits);
+    EXPECT_TRUE(std::isnan(limits.max_deceleration));
+
     EXPECT_FALSE(limits.has_jerk_limits);
     EXPECT_TRUE(std::isnan(limits.max_jerk));
 
@@ -317,6 +331,9 @@ TEST_F(JointLimitsUndeclaredRosParamTest, parse_declared_joint_limits_node)
     EXPECT_TRUE(limits.has_acceleration_limits);
     EXPECT_EQ(5.0, limits.max_acceleration);
 
+    EXPECT_TRUE(limits.has_deceleration_limits);
+    EXPECT_EQ(7.5, limits.max_deceleration);
+
     EXPECT_TRUE(limits.has_jerk_limits);
     EXPECT_EQ(100.0, limits.max_jerk);
 
@@ -356,6 +373,9 @@ TEST_F(JointLimitsLifecycleNodeUndeclaredRosParamTest, parse_declared_joint_limi
     EXPECT_TRUE(limits.has_acceleration_limits);
     EXPECT_EQ(5.0, limits.max_acceleration);
 
+    EXPECT_TRUE(limits.has_deceleration_limits);
+    EXPECT_EQ(7.5, limits.max_deceleration);
+
     EXPECT_TRUE(limits.has_jerk_limits);
     EXPECT_EQ(100.0, limits.max_jerk);