Update limits

Author: christophfroehlich

gz_ros2_control_demos/config/tricycle_drive_controller.yaml

@@ -17,6 +17,19 @@ tricycle_controller:
     traction_wheels_radius: 0.3 # Radius of front wheel
     wheelbase: 1.7 # Distance between center of back wheels and front wheel
 
+    # Rate Limiting
+    linear:
+      x:
+        max_acceleration: 5.0
+        max_deceleration: -8.0
+        max_jerk: 1000.0
+    angular:
+      z:
+        max_velocity: 1.0
+        max_acceleration: 5.0
+        max_deceleration: -8.0
+        max_jerk: 1000.0
+
     # Odometry
     odom_frame_id: odom
     base_frame_id: base_link
@@ -30,3 +43,6 @@ tricycle_controller:
 
     # cmd_vel input
     reference_timeout: 0.5 # In seconds. Timeout to stop if no cmd_vel is received
+
+    # debug
+    publish_limited_velocity: true

gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf

@@ -121,6 +121,7 @@
     <parent link="chassis" />
     <child link="steering_link" />
     <axis xyz="0 0 1" />
+    <limit effort="100" velocity="1" lower="-1.57" upper="1.57" />
   </joint>
 
   <!-- traction wheel link -->
@@ -148,6 +149,7 @@
     <child link="wheel_front_link" />
     <origin xyz="0 0 0" rpy="-1.57 1.57 0" />
     <axis xyz="0 0 1" />
+    <limit effort="100" velocity="1"/>
   </joint>
 
   <ros2_control name="GazeboSystem" type="system">