joint_limits Namespace Reference

Classes
struct	JointLimits
struct	SoftJointLimits

Functions
bool	declare_parameters (const std::string &joint_name, const rclcpp::Node::SharedPtr &node, const std::string &param_ns)
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. More...
bool	get_joint_limits (const std::string &joint_name, const rclcpp::Node::SharedPtr &node, const std::string &param_ns, SoftJointLimits &soft_limits)
	Populate a SoftJointLimits instance from the ROS parameter server. More...

Detailed Description

Author

Adolfo Rodriguez Tsouroukdissian

Function Documentation

declare_parameters()

bool joint_limits::declare_parameters ( const std::string &  joint_name, const rclcpp::Node::SharedPtr &  node, const std::string &  param_ns  )

inline

Definition at line 44 of file joint_limits_rosparam.hpp.

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get_joint_limits() [1/2]

bool joint_limits::get_joint_limits ( const std::string &  joint_name, const rclcpp::Node::SharedPtr &  node, const std::string &  param_ns, JointLimits &  limits  )

inline

Populate a JointLimits instance from the ROS parameter server.

It is assumed that the following parameter structure is followed on the provided NodeHandle. Unspecified parameters are simply not added to the joint limits specification.

joint_limits:
  foo_joint:
    has_position_limits: true
    min_position: 0.0
    max_position: 1.0
    has_velocity_limits: true
    max_velocity: 2.0
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_jerk_limits: true
    max_jerk: 100.0
    has_effort_limits: true
    max_effort: 20.0
  bar_joint:
    has_position_limits: false # Continuous joint
    has_velocity_limits: true
    max_velocity: 4.0

This specification is similar to the one used by MoveIt!, but additionally supports jerk and effort limits.

Parameters

[in]	joint_name	Name of joint whose limits are to be fetched.
[in]	node	NodeHandle where the joint limits are specified.
[out]	limits	Where joint limit data gets written into. Limits specified in the parameter server will overwrite existing values. Values in limits not specified in the parameter server remain unchanged.

Returns

True if a limits specification is found (ie. the joint_limits/joint_name parameter exists in node), false otherwise.

Definition at line 112 of file joint_limits_rosparam.hpp.

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get_joint_limits() [2/2]

bool joint_limits::get_joint_limits ( const std::string &  joint_name, const rclcpp::Node::SharedPtr &  node, const std::string &  param_ns, SoftJointLimits &  soft_limits  )

inline

Populate a SoftJointLimits instance from the ROS parameter server.

It is assumed that the following parameter structure is followed on the provided NodeHandle. Only completely specified soft joint limits specifications will be considered valid.

 joint_limits: foo_joint: soft_lower_limit:
0.0 soft_upper_limit: 1.0 k_position: 10.0 k_velocity: 10.0 

This specification is similar to the specification of the safety_controller tag in the URDF, adapted to the parameter server.

Parameters

[in]	joint_name	Name of joint whose limits are to be fetched.
[in]	node	NodeHandle where the joint limits are specified.
[out]	soft_limits	Where soft joint limit data gets written into. Limits specified in the parameter server will overwrite existing values.

Returns

True if a complete soft limits specification is found (ie. if all k_position, k_velocity, soft_lower_limit and soft_upper_limit exist in joint_limits/joint_name namespace), false otherwise.

Definition at line 257 of file joint_limits_rosparam.hpp.