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(1) If you want a separate set of limits for your work, the best option might be to overlay the appropriate package locally and change the limits in the file there. This way, you will not be affecting anyone else. (2) The trajectory filter server currently is setup in the following manner: (a) use the limits from the urdf (b) overwrite these limits with any limits that might exist on the param server. It reads in the limits only once on startup currently and caches them internally. If (1) above does not satisfy your use case, we can implement the interface that lets you specify the parameters separately for every request. Please open a ticket against me - the interface exists but was not implemented fully.
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