Declare joint limit parameters

[bostoncleek]

Joint position, velocity, and accleration parameter limits
where not declared in the robot_model_loader. This prevented
the use of joint limits.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[AndyZe]

Generally looks good! I'm not very familiar with ROS2 so somebody else should def review this.

[destogl]

This looks good. Just a small comment to check.

Also adding some tests would be nice.

[codecov]

Codecov Report

Merging #408 (20070bb) into main (855db9e) will decrease coverage by 0.07%.
The diff coverage is 45.66%.

@@            Coverage Diff             @@
##             main     #408      +/-   ##
==========================================
- Coverage   53.04%   52.97%   -0.06%     
==========================================
  Files         212      212              
  Lines       22612    22622      +10     
==========================================
- Hits        11992    11982      -10     
- Misses      10620    10640      +20     

Impacted Files	Coverage Δ
...bot_model/include/moveit/robot_model/robot_model.h	92.86% <ø> (ø)
...bot_state/include/moveit/robot_state/robot_state.h	88.89% <ø> (ø)
moveit_ros/moveit_servo/src/servo_calcs.cpp	61.64% <0.00%> (-1.00%)	⬇️
...ning/robot_model_loader/src/robot_model_loader.cpp	69.60% <51.22%> (-4.08%)	⬇️
moveit_core/robot_model/src/joint_model.cpp	47.28% <0.00%> (-3.63%)	⬇️
...meterization/work_space/pose_model_state_space.cpp	81.14% <0.00%> (-1.25%)	⬇️
...anning_scene_monitor/src/current_state_monitor.cpp	55.90% <0.00%> (-0.43%)	⬇️
...cessing/src/time_optimal_trajectory_generation.cpp	90.28% <0.00%> (-0.39%)	⬇️
...e/collision_detection_fcl/src/collision_common.cpp	75.19% <0.00%> (+0.50%)	⬆️

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[JafarAbdi]

LGTM

But I'm not sure if we should explicitly specify the default values (0.0 & false) when declaring the parameters,

Currently, if the user didn't load the joint limit parameters and in another function, they called get_parameter for one of the joint limit parameters they will get 0.0/false rather than PARAMETER_NOT_SET which may not be expected

@AndyZe @destogl @henningkayser what do you think .?

[AndyZe]

Currently, if the user didn't load the joint limit parameters and in another function, they called get_parameter for one of the joint limit parameters they will get 0.0/false rather than PARAMETER_NOT_SET which may not be expected

I would rather not set defaults

[bostoncleek]

Currently, if the user didn't load the joint limit parameters and in another function, they called get_parameter for one of the joint limit parameters they will get 0.0/false rather than PARAMETER_NOT_SET which may not be expected

I would rather not set defaults

That is a good point. Will update to remove the default parameters.

[tylerjw]

lgtm, would it be difficult to add a test of this? Just have a test that sets the parameters using the c++ ros parameter interface or via loading a yaml and checks that those are parsed correctly by this code?

[bostoncleek]

lgtm, would it be difficult to add a test of this? Just have a test that sets the parameters using the c++ ros parameter interface or via loading a yaml and checks that those are parsed correctly by this code?

Writing a useful test for this is somewhat difficult. The robot loader does not have a method to easily retrieve the joint limits. If I use a node to set them and get them then I am really only testing whether or not the loader will throw and exception.

[AndyZe]

3x +1's --> let's get this merged and make an issue to write a test