cherry pick wheel velocity limit fix for ros kilted

Author: ottojo

curt_mini/models/curt_mini/properties.xacro

@@ -7,7 +7,8 @@
 
     <!-- robot limits -->
     <xacro:property name="max_effort" value="50.0" />
-    <xacro:property name="max_velocity" value="5.0" />
+    <!-- joint limit for wheels, radian/second -->
+    <xacro:property name="max_velocity" value="20.0" />
     <xacro:property name="wheel_radius" value="0.13" />
     <xacro:property name="wheel_width" value="0.08" />
 

curt_mini/models/curt_mini/robot.urdf.xacro

@@ -66,7 +66,7 @@
     <child link="front_right_wheel" />
     <axis xyz="0 -1 0" />
     <dynamics damping="1.0" />
-    <limit effort="${max_effort}" velocity="${max_velocity}" />
+    <limit effort="${max_effort}" velocity="${max_wheel_velocity}" />
   </joint>
   <xacro:wheel_transmissions prefix="front_right_motor" />
 
@@ -98,7 +98,7 @@
     <child link="front_left_wheel" />
     <axis xyz="0 -1 0" />
     <dynamics damping="1.0" />
-    <limit effort="${max_effort}" velocity="${max_velocity}" />
+    <limit effort="${max_effort}" velocity="${max_wheel_velocity}" />
   </joint>
   <xacro:wheel_transmissions prefix="front_left_motor" />
 
@@ -130,7 +130,7 @@
     <child link="back_right_wheel" />
     <axis xyz="0 -1 0" />
     <dynamics damping="1.0" />
-    <limit effort="${max_effort}" velocity="${max_velocity}" />
+    <limit effort="${max_effort}" velocity="${max_wheel_velocity}" />
   </joint>
   <xacro:wheel_transmissions prefix="back_right_motor" />
 
@@ -162,7 +162,7 @@
     <child link="back_left_wheel" />
     <axis xyz="0 -1 0" />
     <dynamics damping="1.0" />
-    <limit effort="${max_effort}" velocity="${max_velocity}" />
+    <limit effort="${max_effort}" velocity="${max_wheel_velocity}" />
   </joint>
   <xacro:wheel_transmissions prefix="back_left_motor" />
 

ipa_ros2_control/src/curt_mini_hardware_interface.cpp

@@ -22,7 +22,7 @@ CallbackReturn CurtMiniHardwareInterface::on_init(const hardware_interface::Hard
 
   RCLCPP_INFO(nh_->get_logger(), "Name: %s", info_.name.c_str());
 
-  RCLCPP_INFO(nh_->get_logger(), "Number of Joints %u", info_.joints.size());
+  RCLCPP_INFO(nh_->get_logger(), "Number of Joints %zu", info_.joints.size());
 
   hw_states_position_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
   hw_states_velocity_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());