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ipa320 / cob_gazebo_plugins

Apache License 2.0
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Use `limited_joint_handle` #14

Open fmessmer opened 8 years ago

fmessmer commented 8 years ago

Create a new branch that uses the limited_joint_handle package from https://github.com/ros-industrial/ros_canopen/tree/limited_joint_handle

@fmessmer FYI

fmessmer commented 7 years ago

@ipa-mdl just came across this Can't remember what the status of the limited_joint_handle ros_canopen branch has been...is this still intended to be merged?

fmessmer commented 7 years ago

How was this related to https://github.com/ipa320/cob_control/issues/72

mathias-luedtke commented 7 years ago

Not sure what to do here. I guess I will add an option to turn off all ROS-based joint limits in ros_canopen. joint_limits_controller can be added as an option, perhaps in ros_controllers or cob_control.

fmessmer commented 7 years ago

Summarizing some discussion with @ipa-mdl: Initial idea for limited_joint_handle was because of https://github.com/ros-industrial/ros_canopen/issues/141 and linked discussions. However, the limited_joint_handle as an alternative to ros_control/joint_limits_interface was not as successful as expected on the hardware. Thus, we currently do limit handling directly in hardware and an enforce_limit flag has been implemented in https://github.com/ros-industrial/ros_canopen/pull/215 to switch off ros_control/joint_limits_interface. Still, "joint_limit_controller" (e.g. for limiting "jumps") might be helpful that could be chained with other controllers (e.g. JointGroupPositionController) before their command is processed by the hardware_interface

fmessmer commented 7 years ago

Conclusion for cob_gazebo_ros_control It's not desired to integrate limited_joint_handle within the gazebo plugin. However, it might be helpful to enable/disable the ros_control/joint_limits_interface as done in ros_canopen and then - once available - use the "joint_limit_controller"...

fmessmer commented 7 years ago

@ipa-mdl Let's continue the discussion about the "joint_limit_controller" in https://github.com/ipa320/cob_control/issues/72 as it is not directly related to cob_gazebo_ros_control plugin