jsk-ros-pkg · k-okada · Nov 1, 2020 · Nov 1, 2020 · Nov 1, 2020 · Feb 16, 2021
diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
@@ -54,3 +54,15 @@
     local-name: DENSORobot/denso_cobotta_ros
     uri: https://github.com/DENSORobot/denso_cobotta_ros.git
     version: bb60e75adb8477ed3402561b4ec3ba687af3f397
+# switchbot_ros is not correctly released.
+# see: https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/356
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty 
+    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
+    version: f0ab7bba54523b8f9945ed4a3e9c0efec0c8dde9 
+# for jsk_spot_teleop in jsk_robot
+# spot_msgs is not released
+- git:
+    local-name: clearpathrobotics/spot_ros
+    uri: https://github.com/clearpathrobotics/spot_ros.git
+    version: 8e1554b95cf2875a53f14fda8165957559b0ffb7
diff --git a/jsk_aero_robot/aeroeus/CMakeLists.txt b/jsk_aero_robot/aeroeus/CMakeLists.txt
@@ -8,4 +8,5 @@ catkin_package(
 
 ## rosrun euscollada collada2eus_urdfmodel $(rospack find aero_description)/robots/aero.urdf $(rospack find aero_description)/robots/aero.yaml aero.l
 
-install(FILES aero-interface.l aero-hand.l aero-wheels.l DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+file(GLOB LISP_FILES *.l)
+install(FILES ${LISP_FILES} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/jsk_aero_robot/jsk_aero_startup/CMakeLists.txt b/jsk_aero_robot/jsk_aero_startup/CMakeLists.txt
@@ -10,7 +10,7 @@ endif()
 find_package(catkin REQUIRED)
 catkin_package()
 
-install(DIRECTORY launch raw_maps scripts
+install(DIRECTORY launch raw_maps scripts config test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 

diff --git a/jsk_baxter_robot/baxtereus/CMakeLists.txt b/jsk_baxter_robot/baxtereus/CMakeLists.txt
@@ -65,7 +65,8 @@ install(DIRECTORY euslisp test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES baxter.l baxter-interface.l baxter-util.l baxter.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+file(GLOB LISP_FILES *.l)
+install(FILES ${LISP_FILES} baxter.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest)

diff --git a/jsk_baxter_robot/jsk_baxter_startup/CMakeLists.txt b/jsk_baxter_robot/jsk_baxter_startup/CMakeLists.txt
@@ -17,9 +17,10 @@ include_directories(
 catkin_add_env_hooks(99.jsk_baxter_startup SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
-install(DIRECTORY config jsk_baxter_joy jsk_baxter_lifelog jsk_baxter_moveit jsk_baxter_sensors jsk_baxter_tools
+install(DIRECTORY config jsk_baxter_joy jsk_baxter_lifelog jsk_baxter_moveit jsk_baxter_sensors jsk_baxter_tools jsk_baxter_description jsk_baxter_machine jsk_baxter_udev
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES baxter.launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+file(GLOB LAUNCH_FILES *.launch)
+install(FILES ${LAUNCH_FILES} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
diff --git a/jsk_baxter_robot/jsk_baxter_web/CMakeLists.txt b/jsk_baxter_robot/jsk_baxter_web/CMakeLists.txt
@@ -29,6 +29,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-install(DIRECTORY launch
+install(DIRECTORY launch www
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
diff --git a/jsk_denso_robot/cobottaeus/CMakeLists.txt b/jsk_denso_robot/cobottaeus/CMakeLists.txt
@@ -43,11 +43,12 @@ add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/cobotta.l
   add_custom_target(compile_cobotta ALL DEPENDS ${PROJECT_SOURCE_DIR}/cobotta.l)
 
 
-install(DIRECTORY euslisp test
+install(DIRECTORY sample test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES cobotta.l cobotta-interface.l cobotta-util.l cobotta.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+file(GLOB LISP_FILES *.l)
+install(FILES ${LISP_FILES} cobotta.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest)

diff --git a/jsk_denso_robot/jsk_cobotta_startup/CMakeLists.txt b/jsk_denso_robot/jsk_cobotta_startup/CMakeLists.txt
@@ -33,12 +33,12 @@ catkin_package()
 #############
 ## Install ##
 #############
-install(DIRECTORY config launch scripts data
+install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES jsk_cobotta.machine
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+# install(FILES jsk_cobotta.machine
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 #############
 ## Testing ##

diff --git a/jsk_fetch_robot/jsk_fetch_gazebo_demo/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_gazebo_demo/CMakeLists.txt
@@ -4,7 +4,7 @@ project(jsk_fetch_gazebo_demo)
 find_package(catkin)
 catkin_package()
 
-install(DIRECTORY euslisp launch config
+install(DIRECTORY euslisp launch config test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )

diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
@@ -23,7 +23,15 @@ catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh
 #############
 ## Install ##
 #############
-install(DIRECTORY config launch scripts data
+file(GLOB_RECURSE SCRIPT_PROGRAMS scripts/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
+  endif()
+endforeach()
+install(DIRECTORY config launch data apps euslisp robots supervisor_scripts tmuxinator_yaml udev_rules upstart_scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 

diff --git a/jsk_kinova_robot/jsk_kinova_startup/CMakeLists.txt b/jsk_kinova_robot/jsk_kinova_startup/CMakeLists.txt
@@ -14,7 +14,7 @@ catkin_package()
 #############
 ## Install ##
 #############
-install(DIRECTORY config launch
+install(DIRECTORY config launch scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 

diff --git a/jsk_kinova_robot/kinovaeus/CMakeLists.txt b/jsk_kinova_robot/kinovaeus/CMakeLists.txt
@@ -67,7 +67,7 @@ install(DIRECTORY test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES kinova.l kinova-interface.l kinova-util.l DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES kinova.l kinova-interface.l kinova-util.l gen3_robotiq_2f_85.yaml gen3_robotiq_2f_140.yaml gen3_lite_gen3_lite_2f.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest)

diff --git a/jsk_magni_robot/jsk_magni_startup/CMakeLists.txt b/jsk_magni_robot/jsk_magni_startup/CMakeLists.txt
@@ -14,7 +14,7 @@ catkin_package()
 #############
 ## Install ##
 #############
-install(DIRECTORY launch
+install(DIRECTORY launch data
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 

diff --git a/jsk_naoqi_robot/jsk_nao_startup/CMakeLists.txt b/jsk_naoqi_robot/jsk_nao_startup/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS)
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -130,13 +130,32 @@ include_directories(
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
+file(GLOB_RECURSE SCRIPT_PROGRAMS nodes/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/nodes)
+  endif()
+endforeach()
+file(GLOB_RECURSE SCRIPT_PROGRAMS scripts/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+  endif()
+endforeach()
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
 #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE
 # )
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES

diff --git a/jsk_naoqi_robot/jsk_nao_startup/setup.py b/jsk_naoqi_robot/jsk_nao_startup/setup.py
@@ -0,0 +1,9 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup()
+
+setup(**setup_args)
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/CMakeLists.txt b/jsk_naoqi_robot/jsk_pepper_startup/CMakeLists.txt
@@ -3,11 +3,21 @@ project(jsk_pepper_startup)
 
 find_package(catkin REQUIRED COMPONENTS)
 
+catkin_python_setup()
+
 catkin_package()
 
-install(DIRECTORY launch nodes sample
+install(DIRECTORY launch nodes sample apps config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+file(GLOB_RECURSE SCRIPT_PROGRAMS script/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/script)
+  endif()
+endforeach()
 
 if(CATKIN_ENABLE_TESTING AND NOT $ENV{ROS_DISTRO} STREQUAL "hydro")
   find_package(catkin REQUIRED COMPONENTS rostest roslaunch)

diff --git a/jsk_naoqi_robot/jsk_pepper_startup/setup.py b/jsk_naoqi_robot/jsk_pepper_startup/setup.py
@@ -0,0 +1,9 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup()
+
+setup(**setup_args)
diff --git a/jsk_naoqi_robot/naoeus/CMakeLists.txt b/jsk_naoqi_robot/naoeus/CMakeLists.txt
@@ -19,3 +19,13 @@ compile_naoqi_model(nao naoV50_generated_urdf)
 if(nao_meshes_FOUND)
   add_rostest(test/naoeus.test)
 endif()
+
+###
+### install
+###
+install(DIRECTORY patch test launch sample webots euslisp
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+file(GLOB LISP_FILES *.l)
+install(FILES ${LISP_FILES} nao.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/jsk_naoqi_robot/peppereus/CMakeLists.txt b/jsk_naoqi_robot/peppereus/CMakeLists.txt
@@ -20,4 +20,11 @@ if(pepper_meshes_FOUND AND CATKIN_ENABLE_TESTING)
   add_rostest(test/peppereus.test)
 endif()
 
-
+###
+### install
+###
+install(DIRECTORY doc test
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+file(GLOB LISP_FILES *.l)
+install(FILES ${LISP_FILES} pepper.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/jsk_pr2_robot/jsk_pr2_calibration/CMakeLists.txt b/jsk_pr2_robot/jsk_pr2_calibration/CMakeLists.txt
@@ -4,3 +4,7 @@ project(jsk_pr2_calibration)
 find_package(catkin REQUIRED COMPONENTS)
 
 catkin_package()
+
+install(DIRECTORY scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
diff --git a/jsk_pr2_robot/jsk_pr2_startup/CMakeLists.txt b/jsk_pr2_robot/jsk_pr2_startup/CMakeLists.txt
@@ -9,7 +9,9 @@ catkin_add_env_hooks(99.jsk_pr2_startup SHELLS bash zsh
 
 install(DIRECTORY config jsk_pr2_image_transport
   jsk_pr2_joy jsk_pr2_lifelog jsk_pr2_move_base jsk_pr2_moveit
+  jsk_pr2_perception jsk_pr2_rocon jsk_pr2_teleop
   jsk_pr2_sensors jsk_pr2_warning src sample
+  apps
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 file(GLOB _LAUNCH_FILES ${PROJECT_SOURCE_DIR}/ *.launch) # add / to avoid to get current directory
@@ -18,5 +20,5 @@ foreach(_LAUNCH_FILE ${_LAUNCH_FILES})
       DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 endforeach()
 
-install(FILES install_pr1040_description.sh jsk_pr2.machine plugin.xml startup.app
+install(FILES iai_kitchen.rosinstall jsk_pr2.rosinstall install_pr1040_description.sh jsk_pr2.machine plugin.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/jsk_pr2_robot/pr2_base_trajectory_action/CMakeLists.txt b/jsk_pr2_robot/pr2_base_trajectory_action/CMakeLists.txt
@@ -28,7 +28,12 @@ add_executable(pr2_base_trajectory_action
   src/pr2_base_trajectory_action_controller_node.cpp)
 target_link_libraries(pr2_base_trajectory_action ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY config include launch
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(DIRECTORY config launch test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(TARGETS pr2_base_trajectory_action

diff --git a/jsk_robot_common/jsk_robot_startup/CMakeLists.txt b/jsk_robot_common/jsk_robot_startup/CMakeLists.txt
@@ -138,18 +138,35 @@ if($ENV{ROS_DISTRO} STRGREATER "indigo") # quadruped_joystick_teleop.cpp uses c+
     )
 endif()
 
-install(DIRECTORY lifelog util launch images config cfg
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h")
+
+install(DIRECTORY util launch images config cfg euslisp apps
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+
+install(FILES lifelog_nodelet_plugins.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 file(GLOB_RECURSE SCRIPT_PROGRAMS lifelog/*)
 foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
   if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
     catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
   else()
-    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/lifelog)
+  endif()
+endforeach()
+file(GLOB_RECURSE SCRIPT_PROGRAMS scripts/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
   endif()
 endforeach()
 
+
 if(mongodb_store_FOUND)
 install(TARGETS jsk_robot_lifelog
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb_replication_params.yaml b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb_replication_params.yaml
@@ -1,4 +1,4 @@
-mongodb_store_extras: [["robot-database.jsk.imi.i.u-tokyo.ac.jp", 27017],["musca.jsk.imi.i.u-tokyo.ac.jp",27017]]
+mongodb_store_extras: [["robot-database.jsk.imi.i.u-tokyo.ac.jp", 27017]]
 replication_client:
   interval: 3600
   delete_after_move: true

diff --git a/jsk_robot_common/jsk_robot_startup/package.xml b/jsk_robot_common/jsk_robot_startup/package.xml
@@ -19,6 +19,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>urdf</build_depend>
+
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>app_manager</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/head_teleop_joy_completion.py b/jsk_robot_common/jsk_robot_startup/scripts/head_teleop_joy_completion.py
@@ -58,9 +58,9 @@ def callback(self,msg):
             rospy.loginfo("raw: x={:5.2f}, y={:5.2f}, v={:5.2f}, r={:5.2f} -> cmd: x={:5.2f}, y={:5.2f}, r={:5.2f}".format(x, y, v, r, xx, yy, rr))
 
             msg.axes = list(msg.axes)  # tuple to list
-            msg.axes[self.axis_linear_x] = xx
-            msg.axes[self.axis_linear_y] = yy
-            msg.axes[self.axis_angular] = rr
+            msg.axes[self.axis_linear_x] = max(min(xx, self.axis_linear_x_max), self.axis_linear_x_min)
+            msg.axes[self.axis_linear_y] = max(min(yy, self.axis_linear_y_max), self.axis_linear_y_min)
+            msg.axes[self.axis_angular] = max(min(rr, self.axis_angular_max), self.axis_angular_min)
 
         self.pub.publish(msg)
 
@@ -74,13 +74,26 @@ def spin(self):
             if rospy.Time.now() - self.last_publish_time > rospy.Duration(3.0):
                 self.pub.publish(msg)
 
+    def get_param(self, key1, key2, value):
+        p = rospy.get_param(key1)
+        if type(p) == dict and p.has_key(key2):
+            return p[key2]
+        else:
+            return value
+
     def __init__(self):
         rospy.init_node('joy_topic_completion')
         self.pass_through = rospy.get_param('~pass_through', True)
         self.enable_button = int(rospy.get_param('~enable_button', 0))
         self.axis_linear_x = int(rospy.get_param('~axis_linear', {'x': 1})['x'])
         self.axis_linear_y = int(rospy.get_param('~axis_linear', {'y': 2})['y'])
         self.axis_angular = int(rospy.get_param('~axis_angular', {'yaw': 0})['yaw'])
+        self.axis_linear_x_min = float(self.get_param('~axis_linear', 'x_min',  -1))
+        self.axis_linear_x_max = float(self.get_param('~axis_linear', 'x_max',   1))
+        self.axis_linear_y_min = float(self.get_param('~axis_linear', 'y_min',  -1))
+        self.axis_linear_y_max = float(self.get_param('~axis_linear', 'y_max',   1))
+        self.axis_angular_min = float(self.get_param('~axis_angular', 'yaw_min', -0.5))
+        self.axis_angular_max = float(self.get_param('~axis_angular', 'yaw_max',  0.5))
 
         self.last_publish_time = rospy.Time.now()