Check for a Ruckig jerk limit parameter

[AndyZe]

Description

We want the ability to set custom joint jerk limits for the Ruckig smoother, but in MoveIt1, the RobotModel does not contain that info. My feeling is, there probably isn't a desire to create a large API-breaking PR in MoveIt1 for adding a jerk limit. Here's what adding jerk to the RobotModel would look like, from MoveIt2: moveit/moveit2#683

So, I made this small, simple PR to add a ROS jerk limit parameter.

Test instructions

I've been testing like this:

1. Add Ruckig jerk params to panda_moveit_config/launch/demo.launch

• <param name="/ruckig/panda_joint1/jerk_limit" type="double" value="300.0" /> (and so on)

2. Add the Ruckig smoothing adapter to the top of the list at ompl_planning_pipeline.launch.xml

• default="default_planner_request_adapters/AddRuckigTrajectorySmoothing

3. Launch with: roslaunch moveit_resources_panda_moveit_config demo.launch rviz_tutorial:=true

[simonschmeisser]

Is that original PR actually API-breaking? or just simply ABI-breaking? We don't guarantee either one actually and I would vote for the real deal

[AndyZe]

@simonschmeisser would you mind reviewing this PR then? It's the first step

moveit/moveit_msgs#155

[henningkayser]

where in the moveit config are these being set?

[AndyZe]

I would think it goes in a launch file. Wherever the user wants to put it. This is the only parameter.

[henningkayser]

this clearly needs to be documented. The warning below hints at the joint_limits.yaml btw, which doesn't contain this parameter at all. Please either leave a note about fixing this, or do so by providing necessary updates for the resources package, possibly tutorials

[AndyZe]

I'll fix the message below (thanks!) and update the tutorials and (maybe) moveit_resources.

[AndyZe]

here's the documentation PR: moveit/moveit_tutorials#764

I'm going to go ahead and test this one last time then merge it

[henningkayser]

this clearly needs to be documented. The warning below hints at the joint_limits.yaml btw, which doesn't contain this parameter at all. Please either leave a note about fixing this, or do so by providing necessary updates for the resources package, possibly tutorials

[codecov]

Codecov Report

Patch coverage: 83.34% and project coverage change: -0.01 ⚠️

Comparison is base (f6f8de9) 61.85% compared to head (dc48295) 61.84%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3375      +/-   ##
==========================================
- Coverage   61.85%   61.84%   -0.01%     
==========================================
  Files         380      380              
  Lines       33601    33605       +4     
==========================================
- Hits        20780    20778       -2     
- Misses      12821    12827       +6     

Impacted Files	Coverage Δ
...rajectory_processing/src/ruckig_traj_smoothing.cpp	60.92% <83.34%> (+0.30%)	⬆️

... and 6 files with indirect coverage changes

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