Add hybrid joint interface and limits, fix Gazebo compatibility#306
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WiseL00k wants to merge 4 commits intorm-controls:masterfrom
Open
Add hybrid joint interface and limits, fix Gazebo compatibility#306WiseL00k wants to merge 4 commits intorm-controls:masterfrom
WiseL00k wants to merge 4 commits intorm-controls:masterfrom
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Pull request overview
This PR introduces a “hybrid joint” control interface (pos/vel desired + gains + feedforward) and corresponding joint-limits enforcement helpers, and wires the interface into the Gazebo hardware simulation layer.
Changes:
- Add
rm_control::HybridJointHandle/HybridJointInterfaceto expose hybrid command fields via ros_control. - Add hybrid joint limits interfaces (saturation + soft limits) for enforcing position/velocity/effort constraints.
- Extend
RmRobotHWSimto register the hybrid interface and to compute/apply delayed hybrid joint effort commands duringwriteSim().
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 9 comments.
| File | Description |
|---|---|
| rm_gazebo/src/rm_robot_hw_sim.cpp | Registers hybrid joint handles and adds a writeSim() path that applies delayed hybrid commands. |
| rm_gazebo/include/rm_gazebo/rm_robot_hw_sim.h | Adds hybrid joint data structures, interface member, buffering fields, and writeSim() override declaration. |
| rm_common/include/rm_common/hardware_interface/hybrid_joint_interface.h | New hybrid joint hardware interface definition (handle + interface). |
| rm_common/include/rm_common/joint_limits_interface/hybrid_joint_limits_interface.h | New joint-limits enforcement implementations for hybrid joints (saturation + soft limits). |
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