diff --git a/code/acting/src/acting/velocity_controller.py b/code/acting/src/acting/velocity_controller.py
index bd0f258f..08346a00 100755
--- a/code/acting/src/acting/velocity_controller.py
+++ b/code/acting/src/acting/velocity_controller.py
@@ -6,6 +6,8 @@
 from simple_pid import PID
 from std_msgs.msg import Float32
 
+SPEED_LIMIT_DEFAULT: float = 36.0
+
 
 class VelocityController(CompatibleNode):
     """
@@ -83,7 +85,10 @@ def loop(timer_event=None):
                               "publish a throttle value")
                 return
             if self.__speed_limit is None or self.__speed_limit < 0:
-                self.__speed_limit = float("inf")
+                self.logdebug("VelocityController hasn't received a acceptable"
+                              " speed_limit yet. speed_limit has been set to"
+                              f"default value {SPEED_LIMIT_DEFAULT}")
+                self.__speed_limit = SPEED_LIMIT_DEFAULT
             if self.__max_velocity < 0:
                 self.logerr("Velocity controller doesn't support backward "
                             "driving yet.")
diff --git a/code/acting/src/acting/velocity_publisher_dummy.py b/code/acting/src/acting/velocity_publisher_dummy.py
index cb16d741..e165d02e 100755
--- a/code/acting/src/acting/velocity_publisher_dummy.py
+++ b/code/acting/src/acting/velocity_publisher_dummy.py
@@ -23,9 +23,9 @@ def __init__(self):
             Float32,
             f"/carla/{self.role_name}/max_velocity",
             qos_profile=1)
-        self.velocity = 4
+        self.velocity = 4.0
         self.delta_velocity = 0.125
-        self.max_velocity = 5
+        self.max_velocity = 5.5
         self.min_velocity = 4
         self.__dv = self.delta_velocity