Bug: Incorrect variable clamping in publish_cmd inside autodock_server.py

[KuanHsienn]

There is a logic error in the publish_cmd function within autodock_server.py. The function currently clamps msg.linear.x using angular_vel_range in the second conditional block, rather than clamping the actual angular velocity variable (msg.angular.z). I am not sure if that is the intended logic.

Location: File: autodock_core/scripts/autodock_core/autodock_server.py

Current Faulty Logic:

# This block incorrectly modifies linear.x using angular limits
if (msg.linear.x > self.cfg.angular_vel_range[1]):
    msg.linear.x = self.cfg.angular_vel_range[1]
elif(msg.linear.x < self.cfg.angular_vel_range[0]):
    msg.linear.x = self.cfg.angular_vel_range[0]

Suggested Corrected Logic:

if (msg.angular.z > self.cfg.angular_vel_range[1]):
    msg.angular.z = self.cfg.angular_vel_range[1]
elif(msg.angular.z < self.cfg.angular_vel_range[0]):
    msg.angular.z = self.cfg.angular_vel_range[0]