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ros-controls / ros2_control

Generic and simple controls framework for ROS 2
https://control.ros.org
Apache License 2.0
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Joint Limiters: Saturation (current PR971 - will be renamed) and Soft Limiter #1466

Open bmagyar opened 5 months ago

bmagyar commented 5 months ago
  1. PR: Simple Joint Limiter --> Saturation Joint Limiter --> Done in ros-controls/ros2_control#971
    • check ros_control implementation for full functionality
    • add also saturation of the effort interface -->
  2. PR: Parse URDF data and use max_acceleration and max_deceleration from <ros2_control> Tag https://github.com/ros-controls/ros2_control/pull/1472
  3. PR: Integrate joint_limits in ResourceManager
  4. PR: Open PR Proposal for extending URDF with these values
  5. PR: Add Soft Joint Limiter (new PR)
bmagyar commented 5 months ago

Related to #744

saikishor commented 5 months ago

PR: https://github.com/ros-controls/ros2_control/pull/1472 handles the point 2 of this issue, and there will be another upcoming PR adding the SoftLimits to the HardwareInfo structure

saikishor commented 5 months ago

The PR: #1488 adds support for the SoftLimits reading and parsing into the HardwareInfo structure

saikishor commented 3 months ago

We now have this https://github.com/ros-controls/ros2_control/pull/1526 that includes the changes of #971 and also modified in such a way that it fits in with the integration into the ResourceManager to be able to enforce limits directly over there.

The integration into the ResourceManager would look something like this : https://github.com/saikishor/ros2_control/pull/4