From a768bf028dfb9b9c057661a7e4788bcf02a7f6d7 Mon Sep 17 00:00:00 2001 From: Vincent Belpois Date: Wed, 24 Apr 2024 21:41:39 +0200 Subject: [PATCH] first test working acceleration and speed limiting Jerk limiting not tested --- .../config/omnidirectional_controller.yaml | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml index d3db8c8..38dd7d8 100644 --- a/src/ezbot_robot/config/omnidirectional_controller.yaml +++ b/src/ezbot_robot/config/omnidirectional_controller.yaml @@ -35,7 +35,16 @@ omnidirectional_controller: use_stamped_vel: false linear_has_velocity_limits: true - linear_min_velocity: -0.1 - linear_max_velocity: 0.1 + linear_min_velocity: -5.0 + linear_max_velocity: 5.0 + + linear_has_acceleration_limits: true + max_acceleration: 10.0 + min_acceleration: -10.0 + + angular_has_acceleration_limits: true + angular_max_acceleration: 2.0 + angular_min_acceleration: -2.0 +