Command Velocity
If you are manually sending the velocity through the /cmd_vel topic, simply reduce the velocity
values to an appropriate level.
Create® 3 Actions
If you are driving the robot through one of the Create® 3 actions, you can set velocity limits in
the action goal.
Nav2
To limit velocity during navigation, you can create a modified nav2.yaml configuration file.
Changing parameters such as controller_server.FollowPath.max_vel_x will limit the velocity
commands sent by the Nav2 stack.
Launch Nav2 with your modified parameter file:
ros2 launch turtlebot4_navigation nav_bringup.launch.py params_file:=/path/to/your/nav2.yaml
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