# Acceleration limiter configuration

accel_limiter:
  ros__parameters:
    # Update frequency (Hz)
    frequency: 50  # 50 Hz = 20ms cycle

    # Linear acceleration limit (m/s²)
    # Prevents jerky forward/backward and lateral motion
    linear_accel_limit: 0.5

    # Angular acceleration limit (rad/s²)
    # Prevents jerky rotation
    angular_accel_limit: 1.0
