Extend JointLimits class to include acceleration, deceleration and jerk limits #83
Conversation
saikishor
force-pushed
the
extend/joint/limits
branch
from
dcc05e1 to
7c64adb
Compare
|
This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/allow-for-more-complex-joints-in-urdf/42234/3 |
…rk limits Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
saikishor
force-pushed
the
extend/joint/limits
branch
from
5f463d0 to
d22a21f
Compare
|
This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/proposal-to-extend-jointlimits-in-urdf/42831/1 |
yassine-cherni
left a comment
yassine-cherni
left a comment
There was a problem hiding this comment.
It will be great updates to improve the pkg
|
This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/proposal-to-extend-jointlimits-in-urdf/42831/2 |
| double velocity; | ||
| double acceleration; | ||
| double deceleration; | ||
| double jerk; |
There was a problem hiding this comment.
keep in mind that the addition of these data members will change the size of this object and hence break ABI. This change may be merged to rolling if appropriate care is taken, but it should not be backported to any released ROS distros
|
From ros/urdfdom#212 (comment), if this change isn't going to be backported, wouldn't it be best to change the default values of other limits also as needed? |
7 participants
Add acceleration, deceleration and jerk limits to the JointLimits class to extend the URDF capabilities to limit them at lower levels