diff --git a/clearpath_control/config/a200/control.yaml b/clearpath_control/config/a200/control.yaml
index 194a04a4..6f3b20e8 100644
--- a/clearpath_control/config/a200/control.yaml
+++ b/clearpath_control/config/a200/control.yaml
@@ -47,21 +47,15 @@ platform_velocity_controller:
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 1.0
     linear.x.min_velocity: -1.0
     linear.x.max_acceleration: 1.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 1.0
     angular.z.min_velocity: -1.0
     angular.z.max_acceleration: 1.0
-    angular.z.min_acceleration: -1.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_deceleration: -1.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN
diff --git a/clearpath_control/config/dd100/control.yaml b/clearpath_control/config/dd100/control.yaml
index 8dfa0809..1aa37a8e 100644
--- a/clearpath_control/config/dd100/control.yaml
+++ b/clearpath_control/config/dd100/control.yaml
@@ -47,25 +47,19 @@ platform_velocity_controller:
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 1.3
     linear.x.min_velocity: -1.3
     linear.x.max_acceleration: 1.0
-    linear.x.min_acceleration: -1.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_deceleration: -1.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
     angular.z.max_acceleration: 2.0
-    angular.z.min_acceleration: -2.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_deceleration: -2.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN
 
 puma_control:
   ros__parameters:
diff --git a/clearpath_control/config/dd150/control.yaml b/clearpath_control/config/dd150/control.yaml
index 8dfa0809..1aa37a8e 100644
--- a/clearpath_control/config/dd150/control.yaml
+++ b/clearpath_control/config/dd150/control.yaml
@@ -47,25 +47,19 @@ platform_velocity_controller:
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 1.3
     linear.x.min_velocity: -1.3
     linear.x.max_acceleration: 1.0
-    linear.x.min_acceleration: -1.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_deceleration: -1.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
     angular.z.max_acceleration: 2.0
-    angular.z.min_acceleration: -2.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_deceleration: -2.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN
 
 puma_control:
   ros__parameters:
diff --git a/clearpath_control/config/j100/control.yaml b/clearpath_control/config/j100/control.yaml
index 5a20d226..b44b6f18 100644
--- a/clearpath_control/config/j100/control.yaml
+++ b/clearpath_control/config/j100/control.yaml
@@ -47,22 +47,16 @@ platform_velocity_controller:
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 2.0
     linear.x.min_velocity: -2.0
     linear.x.max_acceleration: 20.0
-    linear.x.min_acceleration: -20.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_deceleration: -20.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
     angular.z.max_acceleration: 25.0
-    angular.z.min_acceleration: -25.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_deceleration: -25.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN
diff --git a/clearpath_control/config/w200/control.yaml b/clearpath_control/config/w200/control.yaml
index f21acbe7..6893192e 100644
--- a/clearpath_control/config/w200/control.yaml
+++ b/clearpath_control/config/w200/control.yaml
@@ -50,22 +50,16 @@ platform_velocity_controller:
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
     linear.x.max_velocity: 5.0
     linear.x.min_velocity: -5.0
     linear.x.max_acceleration: 50.0
-    linear.x.min_acceleration: -50.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
+    linear.x.max_deceleration: -50.0
+    linear.x.max_jerk: .NAN
+    linear.x.min_jerk: .NAN
 
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
     angular.z.max_velocity: 4.0
     angular.z.min_velocity: -4.0
     angular.z.max_acceleration: 40.0
-    angular.z.min_acceleration: -40.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.max_deceleration: -40.0
+    angular.z.max_jerk: .NAN
+    angular.z.min_jerk: .NAN