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✨ Joint limits resource manager integration #4

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✨ Joint limits resource manager integration #4

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Commits on Apr 23, 2024

  1. add hard limits and soft limits maps temporarily until ros-controls#1488 

     is merged

and joint limiters are merged
    @saikishor
    saikishor committed Apr 23, 2024
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Commits on Apr 24, 2024

  1. first draft of the joint limits integration in resource manager

    @saikishor
    saikishor committed Apr 24, 2024
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  2. Move the joint limit struct to the joint limiter struct and added bas… 

    …e interface class
    @saikishor
    saikishor committed Apr 24, 2024
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Commits on Apr 25, 2024

  1. add limiters_data_ and joint_limiters_interface_ setup

    @saikishor
    saikishor committed Apr 25, 2024
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  2. add update joint limiters command method to set the commands back to … 

    …command interfaces
    @saikishor
    saikishor committed Apr 25, 2024
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  3. update the joint limiters data type

    @saikishor
    saikishor committed Apr 25, 2024
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  4. also update the joint_name in the state of update_joint_limiters_state

    @saikishor
    saikishor committed Apr 25, 2024
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  5. Add the main joint limiters operations in the write method before sen… 

    …ding commands to the hardware
    @saikishor
    saikishor committed Apr 25, 2024
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  6. move the setup of the joint limiters to the ResourceStorage class

    @saikishor
    saikishor committed Apr 25, 2024
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