Open fmessmer opened 8 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?
How was this related to https://github.com/ipa320/cob_control/issues/72
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
.
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
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"...
@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
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