Olivier Stasse

Dear @smihael thanks for mentionning pinocchio and TSID. FYI they are some on-going discussions to fix some technical problems preventing the release of pinocchio for foxy. This is a necessary...

Dear @karimrahimi76, I do not think that this is a software problem for ros2_control itself. In SDF with Gazebo it is needed because you *need* to simulate the closed kinematic...

Overall sounds good to me but maybe: ` cmd/joint1/position ` ` state/joint1/position ` would be more coherent ?

If I understood well solution 2 is already implemented and amount to an organization of the robot_description package ? This will not solve the problem for people who cannot modify...

We broke several times our robot by having limits spread around in several places. I believe that such important data should be as much as possible at the source: the...

Why not modifying `robot_description` such that the acceleration field is inside the urdf when loading the file ? Then each package providing a robot for ros2-control could add this information...

>How would you guarantee all consumers are aware of the changes? Even more simpler if you need to change the URDF to have the ros2-control tags in the URDF file,...

And no runtime modification of the URDF.

> There are of course more concerns here -- such as the one raised in [#340 (comment)](https://github.com/ros-controls/ros2_control/issues/340#issuecomment-795897463) -- but just putting everything into the URDF is not necessarily the most...

> I believe we're misunderstanding each other. > > I'm specifically talking about _overriding_ the (default) limits for application-specific scenarios. > > How would the OEM know what those limits...