Implementing constraint for each wheel velocity

[AlperenKosem]

Hi,

is it possible to implement a minimum and maximum wheel velocity for each wheel. Because in my project, motor of wheels cannot apply some velocities. When i tried to constrain in linear and angular velocity. I cannot estimate constraint of wheel velocities because it is related with current velocity directly. If wheel velocity in upper or lower bound of capability of motors, robot stuck this location and cannot move unless i give new path. How can implement wheel velocity constraints in optimization process?

Best regards and thanks for the great work!

[AlperenKosem]

• Added Minimum Translational Velocity Limit #329