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

Defined in File joint_limits_rosparam.hpp

Function Documentation

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

Populate a JointLimits instance from the node parameters. This is a convenience function. For parameters structure see the underlying get_joint_limits function.

Parameters:

joint_name – [in] Name of joint whose limits are to be fetched.
node – [in] Node object for which parameters should be fetched.
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, false otherwise.