ros-controls / ros-controls/control_toolbox
Merge JointSaturationLimiter and RateLimiter
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- Dominant language
- C++
- Stars
- 176
- Forks
- 124
- Avg merge
- 3h 44m
- Merged PRs (30d)
- 9
Description
We have a JointSaturationLimiter that limits positions, velocities, and acceleration for the arms. Can we reuse that logic also here, by extending the limiter with a new on_enforce method to also accept the Twist (or TwistStamped) messages and do the limiting there. I suppose we can reuse the logic, and then we hopefully don't need to have two implementations. AFAIK, we can even create a new class for it as Joint in the name implies to be used on joint only.
Originally posted by @destogl in #1346
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First steps
- Read the whole issue, then the project's contributing guide.
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Research direction
Start by reading joint_limits/src/joint_saturation_limiter.cpp and comparing the existing JointSaturationLimiter and RateLimiter entry points. Trace how position, velocity, and acceleration limits are applied, then determine the shared behavior needed for Twist and TwistStamped messages. Done means the duplicated limiter logic is consolidated and both joint and twist limiting behavior remains covered by the project’s tests.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100