Worked on the autowarefoundation/autoware.universe repository, focusing on enhancing the External Velocity Limit Selector for robotics applications. Addressed a critical bug by ensuring that the velocity limit updates correctly when the velocity limit table is empty and the clear command is issued, thereby improving runtime safety and preventing stale velocity limits in production environments. Updated Python-based tests to align expectations with a logical maximum velocity parameter, replacing unsafe default behaviors. Utilized C++ for core development and Python for testing, emphasizing reliability and robust test coverage. The work contributed to safer velocity control logic and more predictable system behavior in deployment scenarios.