ros-controls / ros-controls/ros2_controllers
[steering_controllers_library] Implement velocity limits (Consistency with DiffDrive)
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@Amronos is already working on this.
Since Apr 15, 2026.
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Description
Description
I am looking into the steering_controllers_library and found an explicit TODO at line 419:
// TODO(destogl): add limiter for the velocities
The Conflict
I noticed that PR #1829 (Tricycle limits) was closed in July 2025 with the suggestion to use joint_limits in the Resource Manager instead.
However, diff_drive_controller currently does implement internal velocity limits (merged in PR #1315).
Question
What is the desired direction for steering_controllers?
- Consistency: Should I implement the velocity limits here to match diff_drive_controller?
- Strict Hardware Limits: Or, is the decision to rely solely on the Resource Manager?
If it is Option 2, I can submit a PR to remove the TODO to prevent future confusion. If it is Option 1, I am happy to implement the speed_limiter logic.
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