Function joint_limits::get_joint_limits(const std::string&, const rclcpp_lifecycle::LifecycleNode::SharedPtr&, SoftJointLimits&)

• Defined in File joint_limits_rosparam.hpp

Function Documentation

inline bool joint_limits::get_joint_limits(const std::string &joint_name, const rclcpp_lifecycle::LifecycleNode::SharedPtr &lifecycle_node, SoftJointLimits &soft_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.

• lifecycle_node – [in] Lifecycle node object for which parameters should be fetched.

• 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 soft limits specification is found, false otherwise.