Velocity and acceleration limits

[vopsi99]

Hello, I have an issue regarding the control of the velocity and acceleration, I do not understand how do I put the limits for the these two parameters in my applications.

Could you provide some help regarding this issue?

[mhubii]

sorry for the late response @vopsi99 !

These parameters are currently taken from joint_limits.yaml file, e.g. for iiwa7:

https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_description/urdf/iiwa7/joint_limits.yaml

Note that currently the connection to the robot will be cut when you exceed these limits