Joint Limiting for ros2_control

ros2_control provides several mechanisms to handle joint limits for different hardware interfaces.

Enable Joint Limits

There exists several ways in controlling the joint limits handling in ros2_control:

• globally for all interfaces of all hardware components via the ros2_control_node parameter enforce_command_limits, for details see here.

• for all interfaces of a joint

  <joint name="joint1">
    ...
    <limits enable="false"/>
    ...
  </joint>
  

• for a single interface of a joint

  <joint name="joint1">
    ...
    <command_interface name="position">
      <limits enable="false"/>
    </command_interface>
    ...
  </joint>
  

If joint limits are active for a specific interface, the controller_manger will print a similar message on startup:

[controller_manager]: Using JointLimiter for joint 'joint1' in hardware 'RRBot' : '  has position limits: true [-1, 1]
[ros2_control_node-1]   has velocity limits: true [1]
[ros2_control_node-1]   has acceleration limits: false [nan]
[ros2_control_node-1]   has deceleration limits: false [nan]
[ros2_control_node-1]   has jerk limits: false [nan]
[ros2_control_node-1]   has effort limits: true [100]
[ros2_control_node-1]   angle wraparound: true'

Configuration of Limits

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Description of the Limiter Algorithms

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