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Add joint limiter interface plugins to enforce limits defined in the URDF #1526

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Add joint limiter interface plugins to enforce limits defined in the URDF #1526

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Commits on Oct 11, 2024

  1. make JointTrajectoryPoint as an input through the template argument

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  2. check for node parameter interface before declaring and getting the p… 

    …arameters
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  3. Added methods to check is the parameter and logging interfaces are se… 

    …t or not
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  4. add an init method parsing the limits directly in the init method

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  5. update the joint state limiter to use template typename in the header… 

    … file
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  6. check the size of the joint limits and the joint names in the init me… 

    …thod
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  7. added joint range limiter library for individual joints control

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  8. added compute_effort_limits method

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  9. update the velocity limits based on the position of the joint

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  10. fix the limits clamping in the methods

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  11. Add proper acceleration limits bounding

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  12. remove the enforce methods of the double vector as it can be handled … 

    …now by types
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  13. Added comments to the has_logging_interface and has_parameter_interfa… 

    …ce methods
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  14. remove the joint range limiter header and reuse it from the joint sat… 

    …uration limiter + merge them into a single library
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  15. rename the plugin names to be more consistent with the types the use … 

    …internally
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  16. Add first version of tests into the joint range limiter

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  17. fix the init check bug

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  18. Apply formatting changes

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  19. update the joint range limiter test with case of only desired positio… 

    …n availability case
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  20. Added some minor fixes in the joint range limiter

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  21. Fill the data of actual or desired fields into the previous commands

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  22. reset the prev_data_ on initialization

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  23. add test cases of the actual and desired position cases

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  24. Add tests for the case of no position limits

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  25. add initial test cases for desired velocity only cases

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  26. Enforce wrt to the position limits only when the actual position valu… 

    …e is available
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  27. change some asserts to expects

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  28. Use lambdas for better testing

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  29. If the joint is outside the position range, then don't let the joint … 

    …move
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  30. extend tests of acceleration limits also with and without actual posi… 

    …tion value
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  31. Add tests for the case of actuators with actual position state and ac… 

    …celeration limits
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  32. remove unused test cases

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  33. pass by const reference and parse the optional actual position and ve… 

    …locity
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  34. Added tests for the effort case

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  35. better conditioning for the acceleration limits enforcement

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  36. Added tests for the desired acceleration case

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  37. Add tests for the desired jerk test cases

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  38. consider also the acceleration limits when computing the position lim… 

    …iting
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  39. Fix minor bug in the limit enforcement

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  40. better computation of the position limits

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  41. better combined desired references test

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  42. Remove LimitsType template from JointLimiterInterface

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  43. Add SoftJointLimits in JointLimiterInterface

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  44. Move joint limits computation in a separate library

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  45. Implement SoftJointLimiter class

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  46. Export JointInterfacesSoftLimiter in the joint_limiters.xml

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  47. Fix linking problem in test_joint_range_limiter

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  48. Create test_soft_joint_limiter.cpp

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  49. Fix typo in plugins definition

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  50. Rm soft_joint_limiter.hpp

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  51. Derive SoiftJointLimiter from JointSaturationLimiter<JointControlInte… 

    …rfacesData> and enforce hard limtis
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  52. Test SofJointLimiter in position

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  53. Solve issues in SoftJointLimiter when prev_command is not defined

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  54. Test SoftJointLimiter in position and effort

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  55. Test uses cases for SoftJointLimiter in velocity interface

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  56. Format changes

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  57. change copyright to PAL

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  58. add pre-comitting fixes

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  59. Add intermediate tests to fix the transition bug

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  60. Fix the undefined behavior when lower bound is greater than upper bound

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  61. Add some documentation to the helpers

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  62. rename of SoftJointLimiter to JointSoftLimiter and some minor changes 

    from manuel
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  63. enable moving out of position limit if velocity is in "right" direction

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  64. warn everytime we reach the limit

    @mamueluth @saikishor
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  65. update the loguic to check if the actual position is within bounds an… 

    …d it's tolerance
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  66. Remove unnecessary debug prints

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  67. fix the soft limiting logic and add respective tests

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