Limitation of velocitys/ acceleration

[Euleeee]

Hello guys,

in the rules was defined that the robot was allowed to have a maximum linear speed of 2 m/s and a maximum linear acceleration of 20 m/s² and also restrictions for the angular velocity. With the diffdrive controller, it is very easy to limit these values. But we use JointVelocityControllers instead of diffdrive controller. Does anybody knows, if there is also a common way to limit velocity/acceleration? (Linear velocity can be limited in the URDF file, but for the other 3 values i have found no solution)

Thank you!

[Rick-v-E]

If you use the JointVelocityControllers, you can limit your robot maximum speed and acceleration in your own code that you use to publish to these controllers. Let me know if that works!