diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index ad4abb6335..da94c945c5 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -81,6 +81,10 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
+  // New methods to handle velocity and acceleration tolerances
+  void setVelocityTolerance(double tolerance);
+  void setAccelerationTolerance(double tolerance);
+
 protected:
   // To reduce number of variables and to make the code shorter the interfaces are ordered in types
   // as the following constants
@@ -290,6 +294,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
       joint_interface[index].get().set_value(trajectory_point_interface[map_cmd_to_joints_[index]]);
     }
   }
+
+  double velocity_tolerance_;
+  double acceleration_tolerance_;
 };
 
 }  // namespace joint_trajectory_controller
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index d98bd25bd0..ad30e08692 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -55,6 +55,10 @@ controller_interface::CallbackReturn JointTrajectoryController::on_init()
     // Create the parameter listener and get the parameters
     param_listener_ = std::make_shared<ParamListener>(get_node());
     params_ = param_listener_->get_params();
+    // Read new velocity and acceleration tolerances
+    velocity_tolerance_ = get_node()->get_parameter("constraints.velocity_tolerance").as_double();
+    acceleration_tolerance_ =
+      get_node()->get_parameter("constraints.acceleration_tolerance").as_double();
   }
   catch (const std::exception & e)
   {
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
index 2a4c5b343f..e7ebde558f 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
+++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -160,3 +160,13 @@ joint_trajectory_controller:
         default_value: 0.0,
         description: "Per-joint trajectory offset tolerance at the goal position.",
       }
+    velocity_tolerance: {
+      type: double,
+      default_value: 0.0,
+      description: "Velocity tolerance for trajectory segments.",
+    }
+    acceleration_tolerance: {
+      type: double,
+      default_value: 0.0,
+      description: "Acceleration tolerance for trajectory segments.",
+    }
diff --git a/joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml b/joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml
index 356f82d685..a5a2c321d3 100644
--- a/joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml
+++ b/joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml
@@ -10,3 +10,7 @@ test_joint_trajectory_controller:
 
     state_interfaces:
       - position
+
+    constraints:
+      velocity_tolerance: 0.05
+      acceleration_tolerance: 0.1