80 for (std::size_t joint_id = 0; joint_id <
num_joints_; ++joint_id)
virtual void read(ros::Duration &elapsed_time)
Read the state from the robot hardware.
std::vector< double > joint_position_command_
#define ROS_INFO_NAMED(name,...)
RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
Constructor.
void enforceLimits(const ros::Duration &period)
virtual void write(ros::Duration &elapsed_time)
Write the command to the robot hardware.
virtual void enforceLimits(ros::Duration &period)
std::vector< double > joint_position_
joint_limits_interface::PositionJointSaturationInterface pos_jnt_sat_interface_