joint_velocity_violation

[Jacklove-G]

I need Franka to run at a relatively fast angular velocity, but I always get the error “joint_velocity_violation”.
I tried turning up the velocity in panda_arm.xacro, limit effort="12" lower="-2.8973" upper="2.8973" velocity="3.6100", but that didn’t work. I also changed kMaxJointVelocity and kMaxRotationalVelocity in rate_limiting.h to a larger size, but it didn’t work.
So how can I change it so that Franka can run faster?

[andrejpan]

joint_velocity_violation tells you already, that you are moving too fast. You can not move faster and expect that there will be no joint_velocity_violation anymore.