Function joint_limits::get_joint_limits(const std::string&, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&, SoftJointLimits&)

Function Documentation

inline bool joint_limits::get_joint_limits(const std::string &joint_name, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &param_itf, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_itf, SoftJointLimits &soft_limits)

Populate a SoftJointLimits instance from the ROS parameter server.

It is assumed that the parameter structure is the following: 

has_soft_limits: bool
k_position: double
k_velocity: double
soft_lower_limit: double
soft_upper_limit: double

Only completely specified soft joint limits specifications will be considered valid. For example a valid yaml configuration would look like: 

<node_name>
  ros__parameters:
    joint_limits:
      foo_joint:
        soft_lower_limit: 0.0
        soft_upper_limit: 1.0
        k_position: 10.0
        k_velocity: 10.0

Parameters:

  • joint_name – [in] Name of joint whose limits are to be fetched, e.g., “foo_joint”.

  • param_itf – [in] node parameters interface of the node where parameters are specified.

  • logging_itf – [in] node logging interface to provide log errors.

  • soft_limits – [out] Where soft joint limit data gets written into. Limits specified in the parameter server will overwrite existing values.

Returns:

True if a complete soft limits specification is found (ie. if all k_position, k_velocity, soft_lower_limit and soft_upper_limit exist in joint_limits/joint_name namespace), false otherwise.