Parse URDF soft_limits into the HardwareInfo structure

[adriaroig]

Needs to be merged after #1472

This PR allows to parse the soft_limits into the HardwareInfo structure, so that this can be later reused by the ResourceManager to enforce the limits on the JointCommandInterfaces.

In the test, it is checked that the soft_limits uses the most restrictive value between the soft_limits and the generic limits.

[codecov]

Codecov Report

Attention: Patch coverage is 85.71429% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 88.52%. Comparing base (607755e) to head (7b2865e).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1488      +/-   ##
==========================================
- Coverage   88.53%   88.52%   -0.01%     
==========================================
  Files         101      101              
  Lines        8502     8523      +21     
  Branches      759      769      +10     
==========================================
+ Hits         7527     7545      +18     
  Misses        706      706              
- Partials      269      272       +3     

Flag	Coverage Δ
unittests	88.52% <85.71%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
hardware_interface/src/component_parser.cpp	92.85% <100.00%> (+0.11%)	⬆️
hardware_interface/test/test_component_parser.cpp	98.71% <80.00%> (-1.29%)	⬇️

[christophfroehlich]

LGTM, thanks!

[christophfroehlich]

My usual comment: please update the docs ;) in this case the release notes should be fine, we haven't documented the structure elsewhere.

[saikishor]

My usual comment: please update the docs ;) in this case the release notes should be fine, we haven't documented the structure elsewhere.

@christophfroehlich Thanks for the review. I've just updated the release notes

[christophfroehlich]

Thanks!