We configured the web server, but it still ran at the default speed, so it didn't really have any effect.

[ncnynl]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

jazzy

Expected behaviour

Configure the safety override to be full on the web server. The desired maximum speed is 0.46.

Actual behaviour

it is still 0.306

Error messages

To Reproduce

After configuring safety_override to full on the web server, I found that the actual max_speed is still incorrect when controlled via command line; it is still 0.306 instead of 0.46.

`lixiang@PC-512796:~/odom_imu_ws/src/odom_imu_navigator/src$ ros2 action send_goal /drive_distance irobot_create_msgs/action/DriveDistance "{distance: 0.2,max_translation_speed: 0.5}"
Waiting for an action server to become available...
Sending goal:
distance: 0.2
max_translation_speed: 0.5

Goal accepted with ID: c4c3c9dfcd7545a89a8f236b6d1923d9

Result:
pose:
header:
stamp:
sec: 1764296203
nanosec: 726167833
frame_id: odom
pose:
position:
x: -0.830899715423584
y: 0.18859247863292694
z: -0.03574637323617935
orientation:
x: -0.0056811220883008495
y: -0.0025164817661995883
z: 0.7194428558561671
w: 0.6945238435999593

Goal finished with status: SUCCEEDED`

In summary: We configured the web server, but it still ran at the default speed, so it didn't really have any effect.

Other notes

No response

[RustyCPR]

There @ncnynl
Was this resolved?
Changing the Create3 Safety Overrides parameter safety_override = full should have enabled max speed.
You can try runningros2 param get /namespace/motion_control safety_overrideto check that the parameter was set correctly.

Let me know,
Rusty