Added limits again

2023-07-14 19:41:29 +08:00 · 2023-07-14 19:41:29 +08:00 · 6e1f8ca33b
commit 6e1f8ca33b
parent 3ea0c8acf6
1 changed files with 7 additions and 0 deletions
--- a/src/dcaiti_control/config/dcaiti_config.yml
+++ b/src/dcaiti_control/config/dcaiti_config.yml
@ -22,6 +22,13 @@ diff_cont:

    use_stamped_vel: false

+    linear:
+      x:
+        has_velocity_limits: true
+        max_velocity: 0.5
+        has_acceleration_limits: true
+        max_acceleration: 0.2
+
 joint_limits:
  ros__parameters:
    left_wheel_joint: