message: tested version in simulation from rt system
diff: @@ -59,8 +59,8 @@ bool JointVelocityExampleController::init(
  void JointVelocityExampleController::update(const ros::Time& /*time*/,
  const ros::Duration& period) {
  - ros::Duration time_max(4.0);
  - double omega_max = 0.2;
  + ros::Duration time_max(8.0);
  + double omega_max = 0.1;
  double cycle = std::floor(
  std::pow(-1.0, (elapsed_time_.toSec() -
  std::fmod(elapsed_time_.toSec(), time_max.toSec())) /
  