Universal_Robots_ROS_Driver [WIP] Enforce joint limits

Related to https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/198 [WIP] since have not tested.

Jul 07 '20 13:07 hsd-dev

I'll let @fmauch do the detailed review, but two high-level comments:

was this code copied from somewhere? I seem to recognise it as the code used in the ros_control boilerplate for loading limits from the parameter server. If it was copied (doesn't matter from where), this fact should be recorded somewhere -- probably with a copyright statement and attribution somewhere
to make the diff easier to follow: try to avoid whitespace and layout changes (unless clang format asks/demands it)

Edit: looks like the format_check test failed.

Jul 07 '20 14:07 gavanderhoorn

was this code copied from somewhere?

Yes from the boilerplate. There are very few examples out there :)

Jul 07 '20 14:07 hsd-dev

was this code copied from somewhere?

Yes from the boilerplate. There are very few examples out there :)

Then we should mention that somewhere.

It might even be a good idea to put that code in a separate .cpp. That would make it even easier to add a license block at the top of the file.

Jul 07 '20 15:07 gavanderhoorn

Will you do that @ipa-hsd ? (just making sure)

Jul 07 '20 15:07 gavanderhoorn

Will you do that @ipa-hsd ?

Yes working on it.

Jul 07 '20 15:07 hsd-dev

All checks passed, but not tested yet and updating as per @gavanderhoorn's comments.
Do Not Merge.

Jul 07 '20 15:07 hsd-dev

@ipa-hsd Any plans / resources to continue this?

Jul 20 '20 12:07 fmauch

@fmauch sorry for the delay. Was occupied last week. I have separated the code from the boilerplate example in a separate file. Please take a look if that make sense because I have not made it as a separate class, but just a separate .cpp

@gavanderhoorn I have also added the original license from the example.

Jul 21 '20 12:07 hsd-dev

@ipa-hsd: would you see a chance to finish this?

Aug 27 '20 18:08 gavanderhoorn

@fmauch https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/223/commits/a1422f1251e049bec5990b1217df16fa8d22920d addresses your previous comments.

Oct 09 '20 10:10 hsd-dev

Any idea about:

  Starting function 'before_init'
  E: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/xenial/InRelease  Clearsigned file isn't valid, got 'NOSPLIT' (does the network require authentication?)
  E: Some index files failed to download. They have been ignored, or old ones used instead.

Oct 09 '20 10:10 hsd-dev

@ipa-hsd: could be https://github.com/ros-infrastructure/answers.ros.org/issues/209.

Oct 09 '20 12:10 gavanderhoorn

The checks look good now.

Oct 12 '20 09:10 hsd-dev

What's the status on this?

Jun 21 '21 00:06 ljden

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.

Apr 08 '23 22:04 github-actions[bot]

though not being updated in a while, this topic is still important.

Apr 11 '23 10:04 fmauch

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.

Jul 13 '23 22:07 github-actions[bot]