diff --git a/launch/teleop_keyboard.launch b/launch/teleop_keyboard.launch
index 28374de267953ae9107cefd3e2828bd8c8ce3a3e..3e46f20b80c50a1d0cfb90cf471f50829dcb56e6 100644
--- a/launch/teleop_keyboard.launch
+++ b/launch/teleop_keyboard.launch
@@ -1,6 +1,6 @@
 <launch>
 
-  <node pkg="teleop_twist_keyboard" name="teleop_twist_keyboard" type="teleop_twist_keyboard.py">
+  <node pkg="teleop_twist_keyboard" name="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen">
   </node>
 
   <include file="$(find twist_to_manual_control)/launch/node.launch"/>
diff --git a/src/twist_to_manual_control_alg_node.cpp b/src/twist_to_manual_control_alg_node.cpp
index 2eb461e0cd3bd0d7496fd14aef5894cf978a634c..e4825dcd127bcb9eb7131d34efb29a39f4b80207 100644
--- a/src/twist_to_manual_control_alg_node.cpp
+++ b/src/twist_to_manual_control_alg_node.cpp
@@ -65,12 +65,23 @@ void TwistToManualControlAlgNode::cmd_vel_callback(const geometry_msgs::Twist::C
   //this->alg_.lock();
   //this->cmd_vel_mutex_enter();
   
+  //  NewValue = (((OldValue - OldMin)*(NewMax - NewMin)) / (OldMax - OldMin)) + NewMin
   double angular = msg->angular.z;
-  //  NewValue = (((OldValue - OldMin )                       * (NewMax                     - NewMin))                     / (OldMax                        - OldMin))                        + NewMin
+  if (angular > this->config_.angular_sat_max)
+    angular=this->config_.angular_sat_max;
+  
+  if (angular < this->config_.angular_sat_min)
+    angular=this->config_.angular_sat_min;
+  
   int steering = (((angular  - this->config_.angular_sat_min) * (this->config_.steering_max - this->config_.steering_min)) / (this->config_.angular_sat_max - this->config_.angular_sat_min)) + this->config_.steering_min;
   
   double linear = msg->linear.x;
-  //NewValue = (((OldValue - OldMin )                       * (NewMax                     - NewMin))                     / (OldMax                        - OldMin))                        + NewMin
+  if (linear > this->config_.linear_sat_max)
+    linear=this->config_.linear_sat_max;
+  
+  if (linear < this->config_.linear_sat_min)
+    linear=this->config_.linear_sat_min;
+
   int speed  = (((linear   - this->config_.linear_sat_min)  * (this->config_.speed_max    - this->config_.speed_min))    / (this->config_.linear_sat_max  - this->config_.linear_sat_min))  + this->config_.speed_min;