Add Saturation Joint Limiter that uses clamping method

[destogl]

Add basic interface for joint limiting plugins and simple joint limiter that can always be used and it is installed per default.

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[destogl]

@destogl please consider this comment: https://github.com/ros-controls/ros2_control/pull/977#pullrequestreview-1353200820

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 73.54497% with 150 lines in your changes missing coverage. Please review.

Project coverage is 86.94%. Comparing base (f04443f) to head (33860f9).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #971      +/-   ##
==========================================
- Coverage   87.81%   86.94%   -0.88%     
==========================================
  Files         102      107       +5     
  Lines        8732     9306     +574     
  Branches      783      863      +80     
==========================================
+ Hits         7668     8091     +423     
- Misses        789      899     +110     
- Partials      275      316      +41     

Flag	Coverage Δ
unittests	86.94% <73.54%> (-0.88%)	:arrow_down:

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
.../include/joint_limits/joint_saturation_limiter.hpp	100.00% <100.00%> (ø)
...oint_limits/test/test_joint_saturation_limiter.hpp	96.55% <96.55%> (ø)
...oint_limits/test/test_joint_saturation_limiter.cpp	90.95% <90.95%> (ø)
...s/include/joint_limits/joint_limiter_interface.hpp	52.00% <52.00%> (ø)
joint_limits/src/joint_saturation_limiter.cpp	85.49% <85.49%> (ø)
...its/include/joint_limits/joint_limits_rosparam.hpp	59.42% <1.26%> (-29.02%)	:arrow_down:

... and 1 file with indirect coverage changes

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[saikishor]

Thanks for the great work :clap:

[destogl]

Thanks for polishing this out, but I still ask for some description/documentation of the simple_joint_limiter 🙊

No problem, how would you like to have this. in .rst file of in the code?

[christophfroehlich]

Thanks for polishing this out, but I still ask for some description/documentation of the simple_joint_limiter 🙊

No problem, how would you like to have this. in .rst file of in the code?

I'd say in the code because it can't be used out of the box without coding into the controller -> and it will be published in the API docs then. controllers from ros2_controllers using this in the future can then link to the API docs.

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[destogl]

Steps to finish this up:

1. Rename class and files from SimpleJointLimiter to JointStaturationLimiter.

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[christophfroehlich]

RHEL workflow fails because generate_parameter_library seems to be not released for RHEL: This project is currently disabled @tylerjw was this disabled on purpose?

To fix this here, shall we add it to ros2_controllers.rolling.repos?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[mergify[bot]]

This pull request is in conflict. Could you fix it @destogl?

[saikishor]

Hey @bmagyar @destogl

The PR #1526 also has the changes from this PR and rebased and all. Should we aim to get that merged, so we can have the limiters in ResourceManager?

[destogl]

Merging as agreed in WG Meeting yesterday.