ros_limits.rst

ROS & ROS2: Velocities, accelerations and jerk limits

Table of Contents

• Joint space
  • Desired relative joint velocity
  • Desired relative joint acceleration
  • Desired relative joint jerk
• Cartesian space
  • Desired Cartesian velocity
  • Desired Cartesian acceleration
  • Desired Cartesian jerk

---

Joint space

Desired relative joint velocity

Define the axis-specific relative velocity (% of maximum velocity)

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_joint_velocity_rel	libiiwa_msgs/SetNumber	[0, 1]	unitless

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_velocity_rel-1]
                    :end-before: [end-command-line-desired_joint_velocity_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_velocity_rel-1]
                    :end-before: [end-python-desired_joint_velocity_rel-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_velocity_rel-1]
                    :end-before: [end-command-line-desired_joint_velocity_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_velocity_rel-1]
                    :end-before: [end-python-desired_joint_velocity_rel-1]

Desired relative joint acceleration

Define the axis-specific relative acceleration (% of maximum acceleration)

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_joint_acceleration_rel	libiiwa_msgs/SetNumber	[0, 1]	unitless

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_acceleration_rel-1]
                    :end-before: [end-command-line-desired_joint_acceleration_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_acceleration_rel-1]
                    :end-before: [end-python-desired_joint_acceleration_rel-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_acceleration_rel-1]
                    :end-before: [end-command-line-desired_joint_acceleration_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_acceleration_rel-1]
                    :end-before: [end-python-desired_joint_acceleration_rel-1]

Desired relative joint jerk

Define the axis-specific relative jerk (% of maximum jerk)

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_joint_jerk_rel	libiiwa_msgs/SetNumber	[0, 1]	unitless

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_jerk_rel-1]
                    :end-before: [end-command-line-desired_joint_jerk_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_jerk_rel-1]
                    :end-before: [end-python-desired_joint_jerk_rel-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_joint_jerk_rel-1]
                    :end-before: [end-command-line-desired_joint_jerk_rel-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_joint_jerk_rel-1]
                    :end-before: [end-python-desired_joint_jerk_rel-1]

---

Cartesian space

Desired Cartesian velocity

Define the absolute Cartesian velocity

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_cartesian_velocity	libiiwa_msgs/SetNumber	(0, Inf)	m/s

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_velocity-1]
                    :end-before: [end-command-line-desired_cartesian_velocity-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_velocity-1]
                    :end-before: [end-python-desired_cartesian_velocity-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_velocity-1]
                    :end-before: [end-command-line-desired_cartesian_velocity-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_velocity-1]
                    :end-before: [end-python-desired_cartesian_velocity-1]

Desired Cartesian acceleration

Define the absolute Cartesian acceleration

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_cartesian_acceleration	libiiwa_msgs/SetNumber	(0, Inf)	m/s^2

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_acceleration-1]
                    :end-before: [end-command-line-desired_cartesian_acceleration-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_acceleration-1]
                    :end-before: [end-python-desired_cartesian_acceleration-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_acceleration-1]
                    :end-before: [end-command-line-desired_cartesian_acceleration-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_acceleration-1]
                    :end-before: [end-python-desired_cartesian_acceleration-1]

Desired Cartesian jerk

Define the absolute Cartesian jerk

Default service name	Service type (srv)	Limits	Units
/iiwa/set_desired_cartesian_jerk	libiiwa_msgs/SetNumber	(0, Inf)	m/s^3

Example:

.. tabs::

    .. group-tab:: ROS

        .. tabs::

            .. group-tab:: Command-line tool (rosservice)

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_jerk-1]
                    :end-before: [end-command-line-desired_cartesian_jerk-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_jerk-1]
                    :end-before: [end-python-desired_cartesian_jerk-1]

    .. group-tab:: ROS2

        .. tabs::

            .. group-tab:: Command-line tool (ros2 service)

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: bash
                    :start-after: [start-command-line-desired_cartesian_jerk-1]
                    :end-before: [end-command-line-desired_cartesian_jerk-1]

            .. group-tab:: Python

                .. literalinclude:: ../snippets/ros2_limits.txt
                    :language: python
                    :start-after: [start-python-desired_cartesian_jerk-1]
                    :end-before: [end-python-desired_cartesian_jerk-1]