joint_limits_interface Namespace Reference

Classes
class	EffortJointSaturationHandle
class	EffortJointSoftLimitsHandle
	A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...
class	JointLimitHandle
struct	JointLimits
class	JointLimitsInterfaceException
	An exception related to a JointLimitsInterface. More...
class	JointSoftLimitsHandle
class	PositionJointSaturationHandle
class	PositionJointSoftLimitsHandle
	A handle used to enforce position and velocity limits of a position-controlled joint. More...
struct	SoftJointLimits
class	VelocityJointSaturationHandle
	A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...
class	VelocityJointSoftLimitsHandle

Functions
bool	getJointLimits (const std::string &joint_name, const rclcpp::Node::SharedPtr &node, JointLimits &limits)
	Populate a JointLimits instance from the ROS parameter server.
bool	getSoftJointLimits (const std::string &joint_name, const rclcpp::Node::SharedPtr &node, SoftJointLimits &soft_limits)
	Populate a SoftJointLimits instance from the ROS parameter server.
bool	getJointLimits (urdf::JointConstSharedPtr urdf_joint, JointLimits &limits)
bool	getSoftJointLimits (urdf::JointConstSharedPtr urdf_joint, SoftJointLimits &soft_limits)

Detailed Description

Author

Adolfo Rodriguez Tsouroukdissian

Function Documentation

getJointLimits() [1/2]

bool joint_limits_interface::getJointLimits ( const std::string &  joint_name, const rclcpp::Node::SharedPtr &  node, 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.

getJointLimits() [2/2]

bool joint_limits_interface::getJointLimits ( urdf::JointConstSharedPtr  urdf_joint, JointLimits &  limits  )

inline

Populate a JointLimits instance from URDF joint data.

Parameters

[in]	urdf_joint	URDF joint.
[out]	limits	Where URDF joint limit data gets written into. Limits in urdf_joint will overwrite existing values. Values in limits not present in urdf_joint remain unchanged.

Returns

True if urdf_joint has a valid limits specification, false otherwise.

getSoftJointLimits() [1/2]

bool joint_limits_interface::getSoftJointLimits ( const std::string &  joint_name, const rclcpp::Node::SharedPtr &  node, 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.

getSoftJointLimits() [2/2]

bool joint_limits_interface::getSoftJointLimits ( urdf::JointConstSharedPtr  urdf_joint, SoftJointLimits &  soft_limits  )

inline

Populate a SoftJointLimits instance from URDF joint data.

Parameters

[in]	urdf_joint	URDF joint.
[out]	soft_limits	Where URDF soft joint limit data gets written into.

Returns

True if urdf_joint has a valid soft limits specification, false otherwise.