Program Listing for File joint_limits_interface_extension.h
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#pragma once
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <limits>
#include <joint_limits_copy/joint_limits_rosparam.hpp>
namespace pilz_industrial_motion_planner
{
namespace joint_limits_interface
{
inline bool declareParameters(const std::string& joint_name, const std::string& param_ns,
const rclcpp::Node::SharedPtr& node)
{
return joint_limits::declareParameters(joint_name, node, param_ns);
}
inline bool getJointLimits(const std::string& joint_name, const std::string& param_ns,
const rclcpp::Node::SharedPtr& node, joint_limits_interface::JointLimits& limits)
{
// Load the existing limits
if (!joint_limits::getJointLimits(joint_name, node, param_ns, limits))
{
return false; // LCOV_EXCL_LINE // The case where getJointLimits returns
// false is covered above.
}
try
{
// Deceleration limits
const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
if (node->has_parameter(param_base_name + ".has_deceleration_limits"))
{
limits.has_deceleration_limits = node->get_parameter(param_base_name + ".has_deceleration_limits").as_bool();
}
else
{
limits.has_deceleration_limits = node->declare_parameter(param_base_name + ".has_deceleration_limits", false);
}
if (limits.has_deceleration_limits)
{
if (node->has_parameter(param_base_name + ".max_deceleration"))
{
limits.max_deceleration = node->get_parameter(param_base_name + ".max_deceleration").as_double();
}
else
{
limits.max_deceleration =
node->declare_parameter(param_base_name + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
}
}
}
catch (const std::exception& ex)
{
RCLCPP_WARN_STREAM(node->get_logger(), "Failed loading deceleration limits");
limits.has_deceleration_limits = false;
}
return true;
}
} // namespace joint_limits_interface
} // namespace pilz_industrial_motion_planner