Modify simple joint limiting plugin (same as changes to moveit2 filter) (#6)

* Merge error handling possilibity on read and write.

* Ros2 control extensions rolling joint limits plugins (#5)

* Added initial structures for joint-limit plugins.

* Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working.

Co-authored-by: AndyZe <[email protected]>

* Add option to automatically update parameters after getting them from parameter server.

* Modify simple joint limiting plugin (same as changes to moveit2 filter)

* Add backward_ros dependency for crash stack trace

* Check for required inputs in simple joint limiter

* Change services history QOS to 'keep all' so client req are not dropped

* Add missing on 'pluginlib' dependency explicitly.

* Update ControllerParameters structure to support custom prefix and use in filters.

* Update messge.

* Change controller param changed msg log level to info instead of error

---------

Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: AndyZe <[email protected]>
Co-authored-by: bijoua <[email protected]>
Co-authored-by: bijoua29 <[email protected]>

Author: 3 people

controller_interface/CMakeLists.txt

@@ -11,6 +11,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()

controller_interface/include/controller_interface/controller_parameters.hpp

@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>backward_ros</build_depend>
   <build_depend>hardware_interface</build_depend>
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>sensor_msgs</build_depend>

controller_interface/package.xml

@@ -17,6 +17,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()

controller_interface/src/controller_parameters.cpp

@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>lifecycle_msgs</depend>
   <depend>pluginlib</depend>

hardware_interface/CMakeLists.txt

@@ -13,6 +13,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()

hardware_interface/package.xml

@@ -84,6 +84,7 @@ class JointLimiterInterface
 
 protected:
   size_t number_of_joints_;
+  std::vector<std::string> joint_names_;
   std::vector<LimitsType> joint_limits_;
   rclcpp::Node::SharedPtr node_;
 };

joint_limits/CMakeLists.txt

@@ -14,6 +14,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>

joint_limits/include/joint_limits/joint_limiter_interface.hpp

@@ -30,6 +30,7 @@ bool JointLimiterInterface<JointLimits>::init(
   const std::string & /*robot_description_topic*/)
 {
   number_of_joints_ = joint_names.size();
+  joint_names_ = joint_names;
   joint_limits_.resize(number_of_joints_);
   node_ = node;