Function joint_limits::getJointLimits(const std::string&, const rclcpp::Node::SharedPtr&, const std::string&, JointLimits&)

Function Documentation

inline bool joint_limits::getJointLimits(const std::string &joint_name, const rclcpp::Node::SharedPtr &node, const std::string &param_ns, JointLimits &limits)

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:

  • joint_name – [in] Name of joint whose limits are to be fetched.

  • node – [in] NodeHandle where the joint limits are specified.

  • limits – [out] 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.