Use limited_joint_handle

[fmessmer]

Create a new branch that uses the limited_joint_handle package from https://github.com/ros-industrial/ros_canopen/tree/limited_joint_handle

@fmessmer FYI

[fmessmer]

@ipa-mdl just came across this
Can't remember what the status of the limited_joint_handle ros_canopen branch has been...is this still intended to be merged?

[fmessmer]

How was this related to https://github.com/ipa320/cob_control/issues/72

[mathias-luedtke]

Not sure what to do here.
I guess I will add an option to turn off all ROS-based joint limits in ros_canopen.
joint_limits_controller can be added as an option, perhaps in ros_controllers or cob_control.

[fmessmer]

Summarizing some discussion with @ipa-mdl:
Initial idea for limited_joint_handle was because of ros-industrial/ros_canopen#141 and linked discussions.
However, the limited_joint_handle as an alternative to ros_control/joint_limits_interface was not as successful as expected on the hardware.
Thus, we currently do limit handling directly in hardware and an enforce_limit flag has been implemented in ros-industrial/ros_canopen#215 to switch off ros_control/joint_limits_interface.
Still, "joint_limit_controller" (e.g. for limiting "jumps") might be helpful that could be chained with other controllers (e.g. JointGroupPositionController) before their command is processed by the hardware_interface

[fmessmer]

Conclusion for cob_gazebo_ros_control
It's not desired to integrate limited_joint_handle within the gazebo plugin.
However, it might be helpful to enable/disable the ros_control/joint_limits_interface as done in ros_canopen and then - once available - use the "joint_limit_controller"...

[fmessmer]

@ipa-mdl
Let's continue the discussion about the "joint_limit_controller" in https://github.com/ipa320/cob_control/issues/72 as it is not directly related to cob_gazebo_ros_control plugin