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Joint Limiters: Saturation (current PR971 - will be renamed) and Soft Limiter #1466
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Related to #744 |
PR: #1472 handles the point 2 of this issue, and there will be another upcoming PR adding the SoftLimits to the |
The PR: #1488 adds support for the SoftLimits reading and parsing into the |
We now have this #1526 that includes the changes of #971 and also modified in such a way that it fits in with the integration into the ResourceManager to be able to enforce limits directly over there. The integration into the ResourceManager would look something like this : saikishor#4 |
Simple Joint Limiter
-->Saturation Joint Limiter
--> Done in Add Saturation Joint Limiter that uses clamping method #971effort
interface -->max_acceleration
andmax_deceleration
from<ros2_control>
Tag Parse URDF joint hard limits into the HardwareInfo structure #1472joint_limits
in ResourceManagerSoft Joint Limiter
(new PR)The text was updated successfully, but these errors were encountered: