From 464d24753d1616be8c09864d1da616aee0c4a76d Mon Sep 17 00:00:00 2001
From: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com>
Date: Mon, 23 Dec 2024 21:17:41 +0100
Subject: [PATCH] Update diff_drive controller parameters (#462)

(cherry picked from commit 3e30a2136cfd32c7e76ad87e592f2b0885d64e27)
---
 .../config/diff_drive_controller_velocity.yaml         | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml b/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml
index a8982e5b..f92eed7d 100644
--- a/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml
+++ b/gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml
@@ -37,19 +37,17 @@ diff_drive_base_controller:
     # Whenever a min_* is unspecified, default to -max_*
     linear.x.has_velocity_limits: true
     linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 1.0
     linear.x.min_velocity: -1.0
     linear.x.max_acceleration: 1.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
     angular.z.has_velocity_limits: true
     angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 1.0
     angular.z.min_velocity: -1.0
     angular.z.max_acceleration: 1.0
     angular.z.min_acceleration: -1.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN