run in Terminal: rostopic pub -1 /custom_cartesian_velocity_controller/cartian_target_velocities custom_panda_controllers/CartesianVelocityTarget "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: "" vel: [0.00, 0.005, 0.0, 0.0, 0.0, 0.0]"

cartesian_motion_generator_joint_velocity_discontinuity: https://frankaemika.github.io/docs/libfranka.html https://frankaemika.github.io/docs/control_parameters.html#control-parameters-specifications begrenzung im Controller durch auslesen Topic und ändern der Werte?

velocity/acc_discontinuity abhängig von Momentan-Pose des Roboters: use franka::limitRate ?