JointGroupPositionController should respect velocity limits

[DLu]

Is your feature request related to a problem? Please describe. As described here I'm trying to port old urdf tutorials.

In ROS 1, you could limit the speed that the position controller moved at by specifying a <limit> tag within the <joint> tag. See this part of the tutorial

I'm trying a similar thing in ROS 2, but the <limit> tag has no effect, still snapping immediately. Check out this branch and this section of the partially rewritten tutorial

Describe the solution you'd like The functionality that existed in ROS 1

Describe alternatives you've considered Switching back to ROS 1 forever.

[bmagyar]

I agree it should.

Due to early insecurities about param handling with ROS2 we plowed ahead without the controllers having access to the URDF.

Now there's a PR that fixes that so it opens up the possibility of respecting joint limits once again automagically (some controllers already do by having duplicated limits info in their configs).

On Mon, 14 Aug 2023, 15:12 David V. Lu!!, @.***> wrote:

Is your feature request related to a problem? Please describe. As described here https://robotics.stackexchange.com/q/25100/35046 I'm trying to port old urdf tutorials.

In ROS 1, you could limit the speed that the position controller moved at by specifying a tag within the tag. See this part of the tutorial http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo#Joint_Control

I'm trying a similar thing in ROS 2, but the tag has no effect, still snapping immediately. Check out this branch and this section of the partially rewritten tutorial https://github.com/ros/urdf_sim_tutorial/tree/ros2_devel#joint-control

Describe the solution you'd like The functionality that existed in ROS 1

Describe alternatives you've considered Switching back to ROS 1 forever.

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[bmagyar]

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