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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
saikishor
wants to merge
65
commits into
ros-controls:master
from
pal-robotics-forks:add/sw_joint_limiter
Commits on Sep 28, 2024
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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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update the joint range limiter test with case of only desired positio…
…n availability case
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Add tests for the case of actuators with actual position state and ac…
…celeration limits
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Derive SoiftJointLimiter from JointSaturationLimiter<JointControlInte…
…rfacesData> and enforce hard limtis
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update the loguic to check if the actual position is within bounds an…
…d it's tolerance
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