Extend parsing of acceleration, deceleration and jerk limits from limit tag
#212
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/allow-for-more-complex-joints-in-urdf/42234/3 |
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/proposal-to-extend-jointlimits-in-urdf/42831/1 |
urdf_parser/src/joint.cpp
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| const char* deceleration_str = config->Attribute("deceleration"); | ||
| if (deceleration_str == NULL){ | ||
| CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no deceleration, using default value"); | ||
| jl.deceleration = std::numeric_limits<double>::infinity(); |
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This is not a full review, but an isolated comment. If the deceleration is unspecified, wouldn't it make more sense to default to the acceleration value?
Unrelated nit: Bracing and spacing style is inconsistent in this changeset.
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You are right. That's a very good point. I'll do the changes soon
…it tag Signed-off-by: Sai Kishor Kothakota <[email protected]>
Signed-off-by: Sai Kishor Kothakota <[email protected]>
Signed-off-by: Sai Kishor Kothakota <[email protected]>
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Is someone working on enforcing these in ros2_control? Otherwise these new limits will just confuse folks.
(@bmagyar)
@forrest-rm We already have the first version of the limit enforcement already integrated into the ros2_control (ros-controls/ros2_control#2047). Once this is merged, we will add support for considering the acceleration, deceleration and jerk limits too |
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Looks ready to merge once the ros2_control changes are also good to go.
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can you retarget this to rolling? Also, I think we should add parsing logic based on the |
@scpeters done! |
Co-authored-by: Jasper van Brakel <[email protected]> Signed-off-by: Sai Kishor Kothakota <[email protected]>
Signed-off-by: Sai Kishor Kothakota <[email protected]>
Signed-off-by: Sai Kishor Kothakota <[email protected]>
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Needs ros/urdfdom_headers#83
This is needed to be able to parse the newly added limits of acceleration, deceleration and jerk, this would be pretty much useful to integrate them into the ros2_control architecture