From a13e650efdb9626791c6b4f058c3f7c01028d10b Mon Sep 17 00:00:00 2001
From: Sikiru Salau <salau.olamilekan@gmail.com>
Date: Thu, 30 Jan 2025 16:20:33 +0100
Subject: [PATCH 1/2] separate angular limiter parameters from linear

Signed-off-by: Sikiru Salau <salau.olamilekan@gmail.com>
---
 .../ackermann_steering/AckermannSteering.cc   | 36 +++++++++++++++----
 1 file changed, 30 insertions(+), 6 deletions(-)

diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
index f1398c6c95..ec4eada508 100644
--- a/src/systems/ackermann_steering/AckermannSteering.cc
+++ b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -346,37 +346,61 @@ void AckermannSteering::Configure(const Entity &_entity,
   {
     const double minVel = _sdf->Get<double>("min_velocity");
     this->dataPtr->limiterLin->SetMinVelocity(minVel);
-    this->dataPtr->limiterAng->SetMinVelocity(minVel);
+  }
+  if (_sdf->HasElement("min_angular_velocity"))
+  {
+    const double minAngVel = _sdf->Get<double>("min_angular_velocity");
+    this->dataPtr->limiterAng->SetMinVelocity(minAngVel);
   }
   if (_sdf->HasElement("max_velocity"))
   {
     const double maxVel = _sdf->Get<double>("max_velocity");
     this->dataPtr->limiterLin->SetMaxVelocity(maxVel);
-    this->dataPtr->limiterAng->SetMaxVelocity(maxVel);
+  }
+  if (_sdf->HasElement("max_angular_velocity"))
+  {
+    const double maxAngVel = _sdf->Get<double>("max_angular_velocity");
+    this->dataPtr->limiterAng->SetMaxVelocity(maxAngVel);
   }
   if (_sdf->HasElement("min_acceleration"))
   {
     const double minAccel = _sdf->Get<double>("min_acceleration");
     this->dataPtr->limiterLin->SetMinAcceleration(minAccel);
-    this->dataPtr->limiterAng->SetMinAcceleration(minAccel);
+  }
+  if (_sdf->HasElement("min_angular_acceleration"))
+  {
+    const double minAngAccel = _sdf->Get<double>("min_angular_acceleration");
+    this->dataPtr->limiterAng->SetMinAcceleration(minAngAccel);
   }
   if (_sdf->HasElement("max_acceleration"))
   {
     const double maxAccel = _sdf->Get<double>("max_acceleration");
     this->dataPtr->limiterLin->SetMaxAcceleration(maxAccel);
-    this->dataPtr->limiterAng->SetMaxAcceleration(maxAccel);
+  }
+  if (_sdf->HasElement("max_angular_acceleration"))
+  {
+    const double maxAngAccel = _sdf->Get<double>("max_angular_acceleration");
+    this->dataPtr->limiterAng->SetMaxAcceleration(maxAngAccel);
   }
   if (_sdf->HasElement("min_jerk"))
   {
     const double minJerk = _sdf->Get<double>("min_jerk");
     this->dataPtr->limiterLin->SetMinJerk(minJerk);
-    this->dataPtr->limiterAng->SetMinJerk(minJerk);
+  }
+  if (_sdf->HasElement("min_angular_jerk"))
+  {
+    const double minAngJerk = _sdf->Get<double>("min_angular_jerk");
+    this->dataPtr->limiterAng->SetMinJerk(minAngJerk);
   }
   if (_sdf->HasElement("max_jerk"))
   {
     const double maxJerk = _sdf->Get<double>("max_jerk");
     this->dataPtr->limiterLin->SetMaxJerk(maxJerk);
-    this->dataPtr->limiterAng->SetMaxJerk(maxJerk);
+  }
+  if (_sdf->HasElement("max_angular_jerk"))
+  {
+    const double maxAngJerk = _sdf->Get<double>("max_angular_jerk");
+    this->dataPtr->limiterAng->SetMaxJerk(maxAngJerk);
   }
 
   if (!this->dataPtr->steeringOnly)

From f7395db20f0d2913f83c27122928b0e19af6d456 Mon Sep 17 00:00:00 2001
From: Sikiru Salau <salau.olamilekan@gmail.com>
Date: Thu, 30 Jan 2025 18:22:38 +0100
Subject: [PATCH 2/2] document new angular limit parameters in
 AckermannSteering.hh

Signed-off-by: Sikiru Salau <salau.olamilekan@gmail.com>
---
 src/systems/ackermann_steering/AckermannSteering.hh | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/systems/ackermann_steering/AckermannSteering.hh b/src/systems/ackermann_steering/AckermannSteering.hh
index 84583379c4..f5a3d9d658 100644
--- a/src/systems/ackermann_steering/AckermannSteering.hh
+++ b/src/systems/ackermann_steering/AckermannSteering.hh
@@ -92,11 +92,17 @@ namespace systems
   /// element is optional, and the default value is 50Hz.
   ///
   /// - `<min_velocity>`: Minimum velocity [m/s], usually <= 0.
+  /// - `<min_angular_velocity>`: Minimum angular velocity [m/s], usually <= 0.
   /// - `<max_velocity>`: Maximum velocity [m/s], usually >= 0.
+  /// - `<max_angular_velocity>`: Maximum angular velocity [m/s], usually >= 0.
   /// - `<min_acceleration>`: Minimum acceleration [m/s^2], usually <= 0.
+  /// - `<min_angular_acceleration>`: Minimum angular acceleration [m/s^2], usually <= 0.
   /// - `<max_acceleration>`: Maximum acceleration [m/s^2], usually >= 0.
-  /// - `<min_jerk Minimum>`: jerk [m/s^3], usually <= 0.
-  /// - `<max_jerk Maximum>`: jerk [m/s^3], usually >= 0.
+  /// - `<max_angular_acceleration>`: Maximum angular acceleration [m/s^2], usually >= 0.
+  /// - `<min_jerk>`: Minimum jerk [m/s^3], usually <= 0.
+  /// - `<min_angular_jerk>`: Minimum jerk [m/s^3], usually <= 0.
+  /// - `<max_jerk>`: Maximum jerk [m/s^3], usually >= 0.
+  /// - `<max_angular_jerk>`: Maximum jerk [m/s^3], usually >= 0.
   ///
   /// - `<topic>`: Custom topic that this system will subscribe to in order to
   /// receive command messages. This element is optional, and the