Joint Limiters: Saturation (current PR971 - will be renamed) and Soft Limiter

Question

Joint Limiters: Saturation (current PR971 - will be renamed) and Soft Limiter

bmagyar opened this issue 9 months ago · 4 comments

PR: Simple Joint Limiter --> Saturation Joint Limiter --> Done in #971
- check ros_control implementation for full functionality
- add also saturation of the effort interface -->
PR: Parse URDF data and use max_acceleration and max_deceleration from <ros2_control> Tag #1472
PR: Integrate joint_limits in ResourceManager
PR: Open PR Proposal for extending URDF with these values
PR: Add Soft Joint Limiter (new PR)

Answer 1 · 2024-04-01T17:14:41.000Z

Related to #744

Answer 2 · 2024-04-02T21:15:29.000Z

PR: #1472 handles the point 2 of this issue, and there will be another upcoming PR adding the SoftLimits to the HardwareInfo structure

Answer 3 · 2024-04-18T12:42:20.000Z

The PR: #1488 adds support for the SoftLimits reading and parsing into the HardwareInfo structure

Answer 4 · 2024-06-17T17:38:08.000Z

We now have this #1526 that includes the changes of #971 and also modified in such a way that it fits in with the integration into the ResourceManager to be able to enforce limits directly over there.

The integration into the ResourceManager would look something like this : saikishor#4