This was because the constant LIMIT_X_MAX_VELOCITY was set specifically for the Dynamixel XM430-W210-T (i.e for the Turtlebot3 Waffle) but the Dynamixel XM430-W250-T (Burger) has a lower attainable velocity. Here, I set the constant to the lower value to match the Burger, but I read the max velocity for the constraint from the motor's control table itself so that the Waffle does not lose its higher wheel RPM.
Fixes https://github.com/ROBOTIS-GIT/turtlebot3/issues/765. In short, commanded velocities were ignored for the turtlebot3 burger if they were higher than 0.22m/s.
This was because the constant
LIMIT_X_MAX_VELOCITYwas set specifically for the Dynamixel XM430-W210-T (i.e for the Turtlebot3 Waffle) but the Dynamixel XM430-W250-T (Burger) has a lower attainable velocity. Here, I set the constant to the lower value to match the Burger, but I read the max velocity for the constraint from the motor's control table itself so that the Waffle does not lose its higher wheel RPM.