Algorithm generates higher velocities that the maximal one that is set

[astef3]

Hi,

while working with ND algorithm, I came to some unexpected behavior. When I test the algorithm in a narrow scenario( similar like hallway) the algorithm generates velocities that are higher than the set one. For example, I set the parameter max_linear_velocity to 0.35, but when I draw I graph of the generated velocities over time I see that the sent velocities are much higher. (as you can see on the graph)

When I test the algorithm in some situations where we don't have some really narrow areas, than the generated velocities are withing the set limits.
So, I would be really grateful if you can help me. Thanks a lot in advance.

[nachoh8]

You can check, in the case of Low Safety, if the variables d_obs and theta are greather than security_distance_ and M_PI_2, respectively. And for High Safety case check the theta variable.
f the values of these variables are correct, then it is possible that the bug is coming from some configuration file or somewhere else outside the code, but I am not sure and I cannot run the code at this time.