moveit2
The MoveIt Motion Planning Framework for ROS 2.
joint_limits_interface_extension.h
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34 
35 #pragma once
36 
38 #include <limits>
39 
41 
43 {
44 namespace joint_limits_interface
45 {
49 inline bool declareParameters(const std::string& joint_name, const std::string& param_ns,
50  const rclcpp::Node::SharedPtr& node)
51 {
52  return joint_limits::declare_parameters(joint_name, node, param_ns);
53 }
57 inline bool getJointLimits(const std::string& joint_name, const std::string& param_ns,
58  const rclcpp::Node::SharedPtr& node, joint_limits_interface::JointLimits& limits)
59 {
60  // Load the existing limits
61  if (!joint_limits::get_joint_limits(joint_name, node, param_ns, limits))
62  {
63  return false; // LCOV_EXCL_LINE // The case where getJointLimits returns
64  // false is covered above.
65  }
66  try
67  {
68  // Deceleration limits
69  const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
70 
71  limits.has_deceleration_limits = node->declare_parameter(param_base_name + ".has_deceleration_limits", false);
72  if (limits.has_deceleration_limits)
73  {
74  limits.max_deceleration =
75  node->declare_parameter(param_base_name + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
76  }
77  }
78  catch (const std::exception& ex)
79  {
80  RCLCPP_WARN_STREAM(node->get_logger(), "Failed loading deceleration limits");
81  limits.has_deceleration_limits = false;
82  }
83 
84  return true;
85 }
86 } // namespace joint_limits_interface
87 } // namespace pilz_industrial_motion_planner
bool get_joint_limits(const std::string &joint_name, const rclcpp::Node::SharedPtr &node, const std::string &param_ns, JointLimits &limits)
Populate a JointLimits instance from the ROS parameter server.
bool declare_parameters(const std::string &joint_name, const rclcpp::Node::SharedPtr &node, const std::string &param_ns)
bool getJointLimits(const std::string &joint_name, const std::string &param_ns, const rclcpp::Node::SharedPtr &node, joint_limits_interface::JointLimits &limits)
bool declareParameters(const std::string &joint_name, const std::string &param_ns, const rclcpp::Node::SharedPtr &node)
Extends joint_limits_interface::JointLimits with a deceleration parameter.
double max_deceleration
maximum deceleration MUST(!) be negative