Ahcorde/add/joint limit interface

joint_limits_interface/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package joint_limits_interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.16.0 (2020-01-27)
+-------------------
+* Merge pull request `#413 <https://github.com/ros-controls/ros_control/issues/413>`_ from matthew-reynolds/range-for
+  Use range-based for loop
+* Use more meaningful pair iterator names
+* Merge pull request `#404 <https://github.com/ros-controls/ros_control/issues/404>`_ from matthew-reynolds/catkin-lint
+  Update CMakeLists.txt and package.xml
+* Use range-based for loops in joint_limits_interface
+* Update dependencies
+  - Dependencies needed to compile are <build_depend>
+  - Dependencies used in public headers are <build_export_depend>
+  - Dependencies needed to link or run are <exec_depend>
+* Merge branch 'melodic-devel' into catkin-lint
+* Update package dependencies
+* Remove liburdfdom-dev
+* Add missing roscpp & rospy dependencies
+* Remove rosunit test_depend from package.xml
+* Merge pull request `#405 <https://github.com/ros-controls/ros_control/issues/405>`_ from matthew-reynolds/use-nullptr
+  Use nullptr
+* Prefer 0.0 for floating point literals
+* Merge pull request `#406 <https://github.com/ros-controls/ros_control/issues/406>`_ from matthew-reynolds/pragma-once
+  Use #pragma once
+* Replace header guard with #pragma once
+* Merge pull request `#395 <https://github.com/ros-controls/ros_control/issues/395>`_ from pal-robotics-forks/extend-interfaces-melodic
+  Extend interfaces
+* joint_limits: use an open-loop policy for velocity staturation
+  The feedback from the controller is way too slow to be used on an
+  actual robot. A robot that had 15 rad.s^-2 on each wheel as
+  an acceleration limit could not even reach 2 rad.s^-2
+  This is in line with ros_controllers`#23 <https://github.com/ros-controls/ros_control/issues/23>`_
+* Apply consistent style to CMakeLists.txt files
+* Apply consistent style to package.xml files
+* Merge pull request `#398 <https://github.com/ros-controls/ros_control/issues/398>`_ from matthew-reynolds/revert-cmake
+  Revert CMake include_directories as SYSTEM
+* Revert CMake include_directories as SYSTEM
+* Merge pull request `#396 <https://github.com/ros-controls/ros_control/issues/396>`_ from pal-robotics-forks/small-fixes
+  Small fixes
+* Fix shadowed variables
+* -Werror=overloaded-virtual and initialization of fields in constructor
+* Contributors: Bence Magyar, Daniel Pinyol, Matt Reynolds, Paul Mathieu, Victor Lopez
+
+0.15.1 (2018-09-30)
+-------------------
+
+0.15.0 (2018-05-28)
+-------------------
+
+0.14.2 (2018-04-26)
+-------------------
+* Update maintainers
+* Fix catkin_lint errors and warnings
+* Contributors: Bence Magyar
+
+0.14.1 (2018-04-16)
+-------------------
+
+0.14.0 (2018-03-26)
+-------------------
+
+0.13.0 (2017-12-23)
+-------------------
+* Add method to populate SoftJointLimits from ROS parameter server. (`#292 <https://github.com/ros-controls/ros_control/issues/292>`_)
+* Contributors: Miguel Prada
+
+0.12.0 (2017-08-05)
+-------------------
+
+0.11.5 (2017-06-28)
+-------------------
+* Throw error if EffortJointSaturationHandle is missing effort or velocity limits
+* Contributors: Bence Magyar, Dave Coleman
+
+0.11.4 (2017-02-14)
+-------------------
+
+0.11.3 (2016-12-07)
+-------------------
+* Add urdf compatibility header
+* Contributors: Bence Magyar
+
+0.11.2 (2016-11-28)
+-------------------
+* Add Enrique and Bence to maintainer list
+* Clean up export leftovers from rosbuild
+* Convert to format2, fix dependency in cmake
+* Replace boost::shared_ptr<urdf::XY> with urdf::XYConstSharedPtr
+* Contributors: Bence Magyar
+
+0.11.1 (2016-08-18)
+-------------------
+
+0.11.0 (2016-05-23)
+-------------------
+
+0.10.1 (2016-04-23)
+-------------------
+* Fix catkin_package
+  * Don't export local include dirs.
+  * Fix dependency on urdfdom (Thanks to Mathias Lüdtke).
+* Contributors: Jochen Sprickerhof
+
+0.10.0 (2015-11-20)
+-------------------
+
+0.9.3 (2015-05-05)
+------------------
+
+0.9.2 (2015-05-04)
+------------------
+* Reset functionality for stateful position joint limit handles
+* Contributors: Mathias Lüdtke
+
+0.9.1 (2014-11-03)
+------------------
+
+0.9.0 (2014-10-31)
+------------------
+* Buildsystem and documentation fixes
+* Add inline keyword to free header functions
+* Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn, shadowmanos
+
+0.8.2 (2014-06-25)
+------------------
+* Propagate urdfdom changes to CMakeLists.txt
+  urdfdom is now standalone, so it must be find_package'd independently.
+* Fix rostest, which was not being built correctly.
+* Contributors: Adolfo Rodriguez Tsouroukdissian
+
+0.8.1 (2014-06-24)
+------------------
+* Use upstream liburdfdom-dev package.
+  Refs `ros/rosdistro#4633 <https://github.com/ros/rosdistro/issues/4633>`_.
+* Contributors: Adolfo Rodriguez Tsouroukdissian
+
+0.8.0 (2014-05-12)
+------------------
+* Remove rosbuild artifacts. Fix `#154 <https://github.com/ros-controls/ros_control/issues/154>`_.
+* Contributors: Adolfo Rodriguez Tsouroukdissian
+
+0.7.2 (2014-04-01)
+------------------
+
+0.7.1 (2014-03-31)
+------------------
+* Fix dependency specification in CMake script to allow isolated builds.
+* Contributors: Adolfo Rodriguez Tsouroukdissian
+
+0.7.0 (2014-03-28)
+------------------
+
+0.6.0 (2014-02-05)
+------------------
+* Updated the interface list.
+* Added the PositionJointSaturationInterface and VelocitySoftLimitsInterface
+  classes. There are now saturation and soft limit classes for effort-controlled,
+  position-controlled, and velocity-controlled joints.
+* Contributors: Jim Rothrock
+
+0.5.8 (2013-10-11)
+------------------
+* Merge pull request `#121 <https://github.com/ros-controls/ros_control/issues/121>`_ from pal-robotics/hydro-devel
+  Fixes for next minor release
+* Added the EffortJointSaturationHandle and EffortJointSaturationInterface
+  classes. They are used with joints that do not have soft limits specified in
+  their URDF files.
+* Minor documentation precision.
+* Make position joint limits handle opn loop.
+  - Lowers the entry barrier for simple robots without velocity measurements,
+  poor control tracking or with a slow update rate.
+* Update README.md
+* Create README.md
+* CMakeLists fix to fit with OpenEmbedded/Yocto meta-ros layer.
+  Increase the compatibility of the ros_control code with
+  meta-ros, an OpenEmbedded/Yocto layer that provides recipes for ROS
+  packages disabling catking checking the variable CATKIN_ENABLE_TESTING.
+* Fix license header in some files.
+* Renamed joint_limits_interface manifext.xml
+
+0.5.7 (2013-07-30)
+------------------
+
+* Updated changelogs
+* Add angle_wraparound joint limit property.
+  For full compatibility with MoveIt!'s joint limit specification.
+  Note that we still have the extra effort and jerk specification.
+
+0.5.6 (2013-07-29)
+------------------
+
+0.5.5 (2013-07-23)
+------------------
+
+0.5.4 (2013-07-23)
+------------------
+
+0.5.3 (2013-07-22)
+------------------
+
+0.5.2 (2013-07-22)
+------------------
+* Fixed gtests for joint_limits_interface in catkin
+* Merge pull request `#93 <https://github.com/davetcoleman/ros_control/issues/93>`_ from pal-robotics/master
+  joint_limits_interface broken in Groocy and Hydro
+* Fix for joint_limits tests in catkin
+* Restore urdf dependencies.
+  Add conditional compilation for Fuerte and Groovy+ distros.
+
+0.5.1 (2013-07-19)
+------------------
+
+0.5.0 (2013-07-16)
+------------------
+* Made joint_limits_interface match hydro version number
+* Removed urdf_interface dependencies
+* Add meta tags to packages not specifying them.
+  - Website, bugtracker, repository.
+* Better documentation of YAML joint limits spec.
+  - Add cross-references in doc main page.
+* Documentation improvements.
+  - More consistency between transmission and joint limits interfaces doc.
+  - Make explicit that these interfaces are not meant to be used by controllers,
+  but by the robot abstraction.
+* build dependency rostest added to package.xml and rostest added to CMakeLists.txt
+* Added dependency for rostest to fix build error
+* Fix compiler warnings (-Wreorder)
+* Minor doc structure improvements.
+* Add main page to joint_limits_interface doc.
+* Remove temporary file from version control.
+* Add attribution for soft_limits code.
+  - Soft-limits enforcing is based on a previous implementation by Willow Garage.
+  Add them in the copyright holders list.
+* Lower severity of log message.
+* Allow unsetting limits specification from rosparam.
+  - Update tests.
+* Add .gitignore
+* Add joint limits parsing from rosparam + unit test.
+* Add max_jerk to limits specification.
+* Minor maintenance fixes.
+* Add documentation.
+* Extensive file, namespace, class renaming.
+
+0.4.0 (2013-06-25)
+------------------

joint_limits_interface/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.0)
+project(joint_limits_interface)
+
+find_package(ament_cmake REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(urdf REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(joint_limits_interface_test test/joint_limits_interface_test.cpp)
+  target_include_directories(joint_limits_interface_test PUBLIC include)
+  ament_target_dependencies(joint_limits_interface_test hardware_interface rclcpp)
+
+  add_executable(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp)
+  target_include_directories(joint_limits_rosparam_test PUBLIC include ${GTEST_INCLUDE_DIRS})
+  target_link_libraries(joint_limits_rosparam_test ${GTEST_LIBRARIES})
+  ament_target_dependencies(joint_limits_rosparam_test rclcpp)
+  add_launch_test(test/joint_limits_rosparam.launch.py)
+  install(
+    TARGETS
+    joint_limits_rosparam_test
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  install(
+    FILES
+    test/joint_limits_rosparam.yaml
+    DESTINATION share/${PROJECT_NAME}/test
+  )
+
+  ament_add_gtest(joint_limits_urdf_test test/joint_limits_urdf_test.cpp)
+  target_include_directories(joint_limits_urdf_test PUBLIC include)
+  ament_target_dependencies(joint_limits_urdf_test rclcpp)
+endif()
+
+# Install headers
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_export_include_directories(include)
+ament_export_dependencies(rclcpp urdf)
+
+ament_package()

joint_limits_interface/README.md

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+## Joint Limits Interface ##
+
+### Overview ###
+
+**joint_limits_interface** contains data structures for representing joint limits, methods for populating them from common
+formats such as URDF and the ROS parameter server, and methods for enforcing limits on different kinds of hardware interfaces.
+
+The **joint_limits_interface** is *not* used by controllers themselves (it does not implement a `HardwareInterface`) but
+instead operates after the controllers have updated, in the `write()` method (or equivalent) of the robot abstraction.
+Enforcing limits will *overwrite* the commands set by the controllers, it does not operate on a separate raw data buffer.
+
+There are two main elements involved in setting up a joint limits interface:
+
+ - **Joint limits representation**
+   - **JointLimits** Position, velocity, acceleration, jerk and effort.
+   - **SoftJointLimits** Soft position limits, `k_p`, `k_v` (as described [here](http://www.ros.org/wiki/pr2_controller_manager/safety_limits)).
+   - **Loading from URDF** There are convenience methods for loading joint limits information
+     (position, velocity and effort), as well as soft joint limits information from the URDF.
+   - **Loading from ROS params** There are convenience methods for loading joint limits from the ROS parameter server
+     (position, velocity, acceleration, jerk and effort). Parameter specification is the same used in MoveIt,
+     with the addition that we also parse jerk and effort limits.
+
+ - **Joint limits interface**
+
+  - For **effort-controlled** joints, the soft-limits implementation from the PR2 has been ported.
+  - For **position-controlled** joints, a modified version of the PR2 soft limits has been implemented.
+  - For **velocity-controlled** joints, simple saturation based on acceleration and velocity limits has been implemented.
+
+### Examples ###
+Please refer to the  [joint_limits_interface](https://github.com/ros-controls/ros_control/wiki/joint_limits_interface) wiki page.