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src/safe_cmd_alg_node.cpp

@@ -4,8 +4,8 @@ SafeCmdAlgNode::SafeCmdAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<SafeCmdAlgorithm>(),
   collision_time_(1),
   min_dist_(0.3),
-  max_vel_front_(10),
-  max_vel_rear_(10)
+  max_vel_front_(1),
+  max_vel_rear_(-1)
 {
   //init class attributes if necessary
   loop_rate_ = 20;//in [Hz]
@@ -143,7 +143,7 @@ int main(int argc,char *argv[])
 
 float SafeCmdAlgNode::compute_max_velocity_(const sensor_msgs::LaserScan::ConstPtr& scan) const
 {
-  float max_velocity = 10;
+  float max_velocity = 1;
 
   for (uint i = 0; i < scan->ranges.size(); i++)
   {