# max_vel_theta not honored by TrajectoryPlannerROS ?

move_base tries to turn my robot too fast, although I believe that I set limits correctly.

My questions are:

- Am I doing something wrong ?
- Is this a bug ?
- What is the solution ?

My parameter file is:

```
TrajectoryPlannerROS:
max_vel_x: 0.07
min_vel_x: 0.04
max_vel_theta: 0.4
min_vel_theta: -0.4
min_in_place_vel_theta: 0.2
acc_lim_theta: 0.2
acc_lim_x: 0.2
acc_lim_y: 0.2
holonomic_robot: false
```

I have checked by rosparam and rqt_reconfigure that the limits on theta are being set correctly.

The problem seems to be that in-place rotations always emit cmd_vel with theta of 1.0:

```
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0
```