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Move Joint Limits structures for use in controllers #462

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merged 13 commits into from Jul 8, 2022
Merged

Move Joint Limits structures for use in controllers #462

merged 13 commits into from Jul 8, 2022

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destogl
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@destogl destogl commented Jul 13, 2021

Working towards support for joint limits this is a structure we are suing in controllers to load the limits from yaml file.

We propose also to move joint limits structure into hardware_interface package to reduce number or dependencies in packages using it.

For example of it please check this commit.

@destogl destogl self-assigned this Jul 13, 2021
@destogl destogl marked this pull request as draft July 13, 2021 17:45
@destogl destogl mentioned this pull request Jul 13, 2021
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@shonigmann
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@destogl - Continuing the discussion on joint_limits from ros-controls/ros2_controllers#198, I agree it makes sense to have the joint_limits headers defined within the hardware interface, and I am happy to adopt this approach.

I know there has been some discussion about URDF vs Yaml config, and where limits should be defined. I agree that yaml config files should be a priority and should always be at least as strict as limits in the URDF (potentially set by the robot manufacturer). Perhaps it could be worth checking both the URDF and the Yaml file and throwing a warning or error if there is a discrepancy? But I think the current approach of only considering yaml is the best starting point.

One thing that I think would be nice to add eventually would be implementations of hard and soft enforce_limits() functions for the different interfaces. They are all simple enough functions but that I feel should probably live with the joint_limits headers for other controllers to reuse

shonigmann pushed a commit to shonigmann/ros2_controllers that referenced this pull request Jul 21, 2021
updated joint_limits use to match ros-controls/ros2_control#462; remo…
401dd9c 
…ved obsolete code and comments
@destogl destogl force-pushed the move-joint-limit-structures branch 3 times, most recently from a81d7a4 to b829d81 Compare September 7, 2021 08:18
@henningkayser henningkayser mentioned this pull request Nov 10, 2021
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@destogl destogl mentioned this pull request Mar 9, 2022
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@AndyZe AndyZe mentioned this pull request Apr 5, 2022
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AndyZe commented Apr 6, 2022

I really want some of the functionality in this PR. I think it was a little too ambitious though, adding too many changes at once. I think I will take some of the code here and open a new PR just for reading the joint limits. Baby steps.

AndyZe
AndyZe approved these changes Apr 20, 2022
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Thanks for simplifying the PR! It looks good other than some minor nitpicks.

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@destogl destogl marked this pull request as ready for review May 4, 2022 14:23
AndyZe
AndyZe approved these changes May 4, 2022
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Looks good to me. I just notice one change that you forgot to push, I think.

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saikishor
saikishor approved these changes May 10, 2022
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Looks good to me!

homalozoa
homalozoa suggested changes May 19, 2022
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@bmagyar bmagyar force-pushed the move-joint-limit-structures branch from 6fd8dba to 991b610 Compare June 18, 2022 07:01
destogl and others added 11 commits July 6, 2022 15:35
@destogl
Using joint limits structure for the admittance controller.
f4e95da
@destogl @AndyZe
Ros2 control extensions rolling joint limits plugins (#5)
694cc6a 
* Added initial structures for joint-limit plugins.

* Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working.

Co-authored-by: AndyZe <zelenak@picknik.ai>
@destogl
Use auto_declare for parameters to avoid crashing.
12aed7d
@destogl
Clean joint_limits package and copy tests into it. They are not worki…
d0ea4c5 
…ng yet.
@destogl @AndyZe
Update joint_limits/package.xml
eb6c7fc 
Co-authored-by: AndyZe <andyz@utexas.edu>
@destogl
Final updates to according to reviews and trying to re-enable tests.
2e0e5bd
@destogl @AndyZe
Update ros2_control/package.xml
b409f7f 
Co-authored-by: AndyZe <andyz@utexas.edu>
@destogl
Update joint_limits/package.xml
9f00962
@bmagyar @destogl
Fix building test & package name in launch script
6d5e658
@destogl
Repair tests after code changes.
a0e8cc5
@destogl
Make better interfaces for joint limits.
249d4c7
@destogl destogl force-pushed the move-joint-limit-structures branch from 76fd8d7 to 249d4c7 Compare July 6, 2022 13:45
bmagyar
bmagyar requested changes Jul 7, 2022
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@bmagyar bmagyar merged commit e68cbb1 into ros-controls:master Jul 8, 2022
@bmagyar bmagyar mentioned this pull request Jul 8, 2022
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@destogl destogl deleted the move-joint-limit-structures branch March 7, 2023 16:59
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@saikishor saikishor saikishor approved these changes

@AndyZe AndyZe AndyZe requested changes

@sjahr sjahr sjahr left review comments

@homalozoa homalozoa homalozoa requested changes

@bmagyar bmagyar bmagyar approved these changes

@LukasMacha97 LukasMacha97 LukasMacha97 approved these changes

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@destogl @shonigmann @AndyZe @bmagyar @saikishor @homalozoa @sjahr @LukasMacha97