docs: Add configuration and algorithm documentation for joint limits#3166
docs: Add configuration and algorithm documentation for joint limits#3166ultrasage-danz wants to merge 1 commit into
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- Add detailed parameter structure for joint limiting - Document three configuration methods: YAML, URDF, runtime - Explain Saturation Limiter algorithm with examples - Explain Soft Limiter spring-damper model - Document dual enforcement strategy and thread safety - Add best practices for joint limit configuration Closes ros-controls#2262
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saikishor
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@ultrasage-danz is this AI generated documentation?
No |
| Configuration Methods | ||
| ~~~~~~~~~~~~~~~~~~~~~~~ | ||
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| **1. Via Parameter File (YAML)** |
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if this is not AI generated, where you have this information from?
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Parameter structure docs are in joint_limits_rosparam.hpp lines 57-80 and 173-189 (two \code blocks), with working YAML examples at lines 192-215 (foo_joint/bar_joint configs).
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Configuring by parameters is not supported in the controller manager, so not sure how you endup with this
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@ultrasage-danz is right, there is a test and this file existed before we even integrated the joint limiter in the controller_manager. it is also included in joint_limiter_interface.hpp and used there if I'm not mistaken. What is the point here @saikishor?
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ah, I see that we don't pass the NodeParametersInterface to JointLimiterInterface, that's why the parameters are not declared/used later.
@saikishor this was done on purpose I guess?
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Description
This PR completes the documentation for joint limiting behavior in ros2_control by adding two missing sections to the guide:
Configuration of Limits - Explains how to configure joint limits through:
Description of the Limiter Algorithms - Details the two limiting strategies:
Related Issues
Closes #2262
Checklist