This switchs the order that composeJointTrajMessage and enforcePositionLimits is called so that enforcePositionLimits works on a JointState and uses internal_jointstate which holds position and velocity information regardless of what should be published. Previously: it was operating on the JointTrajectory and had to take publishing booleans into consideration
Tested locally, including being able to back away from joint position limit. Shameless plug for new Servo tutorial which includes using a keyboard as input (how I tested the joint limits)
Description
This switchs the order that
composeJointTrajMessageandenforcePositionLimitsis called so thatenforcePositionLimitsworks on a JointState and uses internal_jointstate which holds position and velocity information regardless of what should be published. Previously: it was operating on the JointTrajectory and had to take publishing booleans into considerationTested locally, including being able to back away from joint position limit. Shameless plug for new Servo tutorial which includes using a keyboard as input (how I tested the joint limits)