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Parse URDF joint hard limits into the HardwareInfo structure #1472

Merged
merged 36 commits into from
May 7, 2024
Merged

Parse URDF joint hard limits into the HardwareInfo structure #1472

merged 36 commits into from
May 7, 2024

Commits on Apr 2, 2024

  1. Add joint_limits dependency and add limits map to the HardwareInfo st… 

    …ruct
    @saikishor
    saikishor committed Apr 2, 2024
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  2. Retrieve limits from the URDF as well as ros2_control tag from robot_… 

    …description
    @saikishor
    saikishor committed Apr 2, 2024
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  3. print error and continue instead of throwing exception

    @saikishor
    saikishor committed Apr 2, 2024
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  4. Fix the logic of the retrieval of min and max elements

    @saikishor
    saikishor committed Apr 2, 2024
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  5. update tests adding the limits part

    @saikishor
    saikishor committed Apr 2, 2024
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  6. remove limits enforcing when defined under state interface

    @saikishor
    saikishor committed Apr 2, 2024
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  7. add more testing for other cases

    @saikishor
    saikishor committed Apr 2, 2024
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  8. added comments to the limits map and removed extra include

    @saikishor
    saikishor committed Apr 2, 2024
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Commits on Apr 4, 2024

  1. Added a way to enable and disable the joint interface limits

    @saikishor
    saikishor committed Apr 4, 2024
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  2. Added tests for the newly added disabling of joint limits

    @saikishor
    saikishor committed Apr 4, 2024
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Commits on Apr 17, 2024

  1. Merge branch 'master' into parse_limits_from_urdf_to_hw_info

    @saikishor
    saikishor authored Apr 17, 2024
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  2. Add the missing limits to the diffbot urdf continuous joints

    @saikishor
    saikishor committed Apr 17, 2024
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  3. Fix formatting changes

    @saikishor
    saikishor committed Apr 17, 2024
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Commits on Apr 22, 2024

  1. Change kEnableTag to kEnableAttribute and other minor typos 

    Co-authored-by: Christoph Fröhlich <[email protected]>
    @saikishor @christophfroehlich
    saikishor and christophfroehlich authored Apr 22, 2024
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  2. Merge branch 'master' into parse_limits_from_urdf_to_hw_info

    @saikishor
    saikishor authored Apr 22, 2024
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  3. Add tests for the acceleration and jerk limits parsing

    @saikishor
    saikishor committed Apr 22, 2024
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  4. Fix minor bug in the acceleration and deceleration signs

    @saikishor
    saikishor committed Apr 22, 2024
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  5. Add tests for specific use conditions

    @saikishor
    saikishor committed Apr 22, 2024
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  6. Format error strings

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 22, 2024
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  7. Add comment to remove duplicate code

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 22, 2024
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  8. Add another test with different min/max values

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 22, 2024
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  9. Rename tests

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 22, 2024
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Commits on Apr 23, 2024

  1. Fix the missing GPIOs part in the tests

    @saikishor
    saikishor committed Apr 23, 2024
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  2. Remove unnecessary check and add test if it still throws

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 23, 2024
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  3. Test if it throws on revolute+prismatic without limits 

    it does not throw on continuous
    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 23, 2024
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  4. Fix continuous joint limits

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 23, 2024
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  5. Successfully parse continuous joint limits if set in URDF

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 23, 2024
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  6. Throw if trying to configure a fixed joint

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 23, 2024
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Commits on Apr 24, 2024

  1. Remove duplicate code

    @christophfroehlich @saikishor
    christophfroehlich authored and saikishor committed Apr 24, 2024
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  2. Merge branch 'master' into parse_limits_from_urdf_to_hw_info

    @saikishor
    saikishor authored Apr 24, 2024
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Commits on May 3, 2024

  1. separate the lambdas into isolated helper methods

    @saikishor
    saikishor committed May 3, 2024
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  2. fix the has_limits logic for different interfaces

    @saikishor
    saikishor committed May 3, 2024
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  3. Merge branch 'master' into parse_limits_from_urdf_to_hw_info

    @saikishor
    saikishor authored May 3, 2024
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  4. make update_interface_limits more generic and fix minor bug

    @saikishor
    saikishor committed May 3, 2024
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  5. Remove the copy_interface_limits method as generic update_interface_l… 

    …imits works
    @saikishor
    saikishor committed May 3, 2024
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Commits on May 6, 2024

  1. Merge branch 'master' into parse_limits_from_urdf_to_hw_info

    @saikishor
    saikishor authored May 6, 2024
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