lwa4p_velocity_limits

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Hi

I am working with Lwa4p. I successfully control arm with joystick and I have written my action client for both Cartesian controller and joint_trajectory_controller. I am interested in changing velocities. I change joint_limits.yaml file and also created new description urdf based on cad models from schunk site with changed velocities. Acceleration limits are false and I still cannot accelerate to higher speed than 0.4 rad/s. Are there some limitations sended from dscf file with canopen when i am initializing the arm ?? or how am I supossed to change velocities or acceleration limits.

Thank you for your time and sorry for my bad english