joint_limits_interface_extension.h

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <limits>
 
#include <joint_limits_copy/joint_limits_rosparam.hpp>
 
namespace pilz_industrial_motion_planner
{
namespace joint_limits_interface
{
inline bool declareParameters(const std::string& joint_name, const std::string& param_ns,
                              const rclcpp::Node::SharedPtr& node)
{
  return joint_limits::declareParameters(joint_name, node, param_ns);
}
inline bool getJointLimits(const std::string& joint_name, const std::string& param_ns,
                           const rclcpp::Node::SharedPtr& node, joint_limits_interface::JointLimits& limits)
{
  // Load the existing limits
  if (!joint_limits::getJointLimits(joint_name, node, param_ns, limits))
  {
    return false;  // LCOV_EXCL_LINE // The case where getJointLimits returns
                   // false is covered above.
  }
  try
  {
    // Deceleration limits
    const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
    if (node->has_parameter(param_base_name + ".has_deceleration_limits"))
    {
      limits.has_deceleration_limits = node->get_parameter(param_base_name + ".has_deceleration_limits").as_bool();
    }
    else
    {
      limits.has_deceleration_limits = node->declare_parameter(param_base_name + ".has_deceleration_limits", false);
    }
    if (limits.has_deceleration_limits)
    {
      if (node->has_parameter(param_base_name + ".max_deceleration"))
      {
        limits.max_deceleration = node->get_parameter(param_base_name + ".max_deceleration").as_double();
      }
      else
      {
        limits.max_deceleration =
            node->declare_parameter(param_base_name + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
      }
    }
  }
  catch (const std::exception& ex)
  {
    RCLCPP_WARN_STREAM(node->get_logger(), "Failed loading deceleration limits");
    limits.has_deceleration_limits = false;
  }
 
  return true;
}
}  // namespace joint_limits_interface
}  // namespace pilz_industrial_motion_planner