Custom tolerances and settings of joint limits per joint

[christophfroehlich]

Background

While working on #2978 we saw that the default tolerance here

ros2_control/joint_limits/include/joint_limits/joint_limits_helpers.hpp

Lines 30 to 32 in 276b203

	constexpr double POSITION_BOUNDS_TOLERANCE = 0.002;
	// 0.5 degrees (or) approx. 1 cm for the prismatic joint
	constexpr double OUT_OF_BOUNDS_EXCEPTION_TOLERANCE = 0.0087;

might not be a good choice for every application.

Instructions

Propose a way to configure that per joint first before starting implementing it.

[wig-nesh]

Hi! Here's one way we could handle this, lmk if there's anything i'm missing.

1. update the struct JointLimits in joint_limits.hpp to include these params.
2. update declare_parameters() and get_joint_limits() in joint_limits_rosparam.hpp with the same
3. make changes in joint_limit_helpers.cpp to use these new params

if this sounds good i can go ahead with implementing it and writing some tests for it as well.

[saikishor]

hello!

The idea I have is not to add it to the JointLimits struct. I've something started locally, I'll try to take a look and update you guys something.