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Parse urdf limits to hardware interfaces #1335

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wants to merge 16 commits into from
Closed

Parse urdf limits to hardware interfaces #1335

wants to merge 16 commits into from

Commits on Jan 15, 2024

  1. Added joint limits urdf header for importing limits from URDF model

    @saikishor
    saikishor committed Jan 15, 2024
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  2. Added tests for the newly added joint limits URDF header

    @saikishor
    saikishor committed Jan 15, 2024
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  3. Use the absolute floating point value for velocity and effort

    @saikishor
    saikishor committed Jan 15, 2024
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Commits on Jan 16, 2024

  1. use std::abs instead of fabs

    @saikishor
    saikishor committed Jan 16, 2024
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  2. Added Limits struct to the InterfaceInfo

    @saikishor
    saikishor committed Jan 16, 2024
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  3. Added methods to retrieve limits from the URDF joints and ros2_contro… 

    …l tags
    @saikishor
    saikishor committed Jan 16, 2024
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  4. Make the main Limits variable optional and added exception handling f… 

    …or general scenario
    @saikishor
    saikishor committed Jan 16, 2024
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  5. Added the first version of the SaturationHandle class

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    saikishor committed Jan 16, 2024
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  6. create SaturationHandle per control mode instead of a single one

    @saikishor
    saikishor committed Jan 16, 2024
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  7. Add joint_limits dependency and add limits map to the HardwareInfo st… 

    …ruct
    @saikishor
    saikishor committed Jan 16, 2024
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  8. Retrieve limits from the URDF as well as ros2_control tag from robot_… 

    …description
    @saikishor
    saikishor committed Jan 16, 2024
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  9. print error and continue instead of throwing exception

    @saikishor
    saikishor committed Jan 16, 2024
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Commits on Jan 23, 2024

  1. add public access specifier to JointSaturationInterface

    @saikishor
    saikishor committed Jan 23, 2024
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  2. Add import joint limiters from the hardware_info

    @saikishor
    saikishor committed Jan 23, 2024
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  3. rename to hardware command limiter instead of joint limiter

    @saikishor
    saikishor committed Jan 23, 2024
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  4. Enforce limits before calling write method of the hardware

    @saikishor
    saikishor committed Jan 23, 2024
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