Package Summary

Tags No category tags.
Version 0.11.0
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2016-05-25
Dev Status MAINTAINED
Released RELEASED

Package Description

Interface for enforcing joint limits.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Adolfo Rodriguez Tsouroukdissian
README

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).
    • 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 wiki page.

CHANGELOG

Changelog for package joint_limits_interface

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 L

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-05-25
Dev Status MAINTAINED
Released RELEASED

Package Description

Interface for enforcing joint limits.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Adolfo Rodriguez Tsouroukdissian
README

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).
    • 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 wiki page.

CHANGELOG

Changelog for package joint_limits_interface

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 L

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags No category tags.
Version 0.9.4
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-02-12
Dev Status MAINTAINED
Released RELEASED

Package Description

Interface for enforcing joint limits.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Adolfo Rodriguez Tsouroukdissian
README

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).
    • 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 wiki page.

CHANGELOG

Changelog for package joint_limits_interface

0.9.4 (2016-02-12)

0.9.3 (2015-05-05)

0.9.2 (2015-05-04)

  • Reset functionality for stateful position joint limit handles
  • Contributors: Mathias L

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags No category tags.
Version 0.7.3
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-10-28
Dev Status MAINTAINED
Released RELEASED

Package Description

Interface for enforcing joint limits.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Adolfo Rodriguez Tsouroukdissian
README

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).
    • Loading from URDF There are conveinece 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 conveinece 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 wiki page.

CHANGELOG

Changelog for package joint_limits_interface

0.7.3 (2014-10-28)

  • make rostest in CMakeLists optional.
  • Add hardware_interface to CATKIN_DEPENDS.
  • Fix generation of rostests in catkin.
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn

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 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 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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.
No version for distro groovy. Known supported distros are highlighted in the buttons above.
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