Polish out some stuff using "GH Programming"

Co-authored-by: AndyZe <[email protected]>

hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp

@@ -27,7 +27,6 @@ constexpr char HW_IF_VELOCITY[] = "velocity";
 constexpr char HW_IF_ACCELERATION[] = "acceleration";
 /// Constant defining effort interface name
 constexpr char HW_IF_EFFORT[] = "effort";
-
 }  // namespace hardware_interface
 
 #endif  // HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TYPE_VALUES_HPP_

hardware_interface/package.xml

@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>lifecycle_msgs</depend>
   <depend>pluginlib</depend>

joint_limits/include/joint_limits/joint_limiter_interface.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -49,7 +49,7 @@ class JointLimiterInterface
    *
    */
   JOINT_LIMITS_PUBLIC virtual bool init(
-    const std::vector<std::string> joint_names, const rclcpp::Node::SharedPtr & node,
+    const std::vector<std::string> & joint_names, const rclcpp::Node::SharedPtr & node,
     const std::string & robot_description_topic = "/robot_description");
 
   JOINT_LIMITS_PUBLIC virtual bool configure(
@@ -67,7 +67,7 @@ class JointLimiterInterface
     return on_enforce(current_joint_states, desired_joint_states, dt);
   }
 
-  // TODO(destogl): Make those protected?
+protected:
   // Methods that each limiter implementation has to implement
   JOINT_LIMITS_PUBLIC virtual bool on_init() { return true; }
 
@@ -78,11 +78,10 @@ class JointLimiterInterface
   }
 
   JOINT_LIMITS_PUBLIC virtual bool on_enforce(
-    trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
+    const trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
     trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states,
     const rclcpp::Duration & dt) = 0;
 
-protected:
   size_t number_of_joints_;
   std::vector<std::string> joint_names_;
   std::vector<LimitsType> joint_limits_;

joint_limits/include/joint_limits/simple_joint_limiter.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, PickNik Inc.
+// Copyright (c) 2023, PickNik Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/// \author Denis Stogl
+/// \author Dr. Denis Stogl
 
 #ifndef JOINT_LIMITS__SIMPLE_JOINT_LIMITER_HPP_
 #define JOINT_LIMITS__SIMPLE_JOINT_LIMITER_HPP_
@@ -31,7 +31,7 @@ class SimpleJointLimiter : public JointLimiterInterface<JointLimits>
   JOINT_LIMITS_PUBLIC SimpleJointLimiter();
 
   JOINT_LIMITS_PUBLIC bool on_enforce(
-    trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
+    const trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
     trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states,
     const rclcpp::Duration & dt) override;
 };

joint_limits/include/joint_limits/visibility_control.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

joint_limits/joint_limiters.xml

@@ -3,7 +3,7 @@
          type="joint_limits::SimpleJointLimiter<joint_limits::JointLimits>"
          base_class_type="joint_limits::JointLimiterInterface<joint_limits::JointLimits>">
     <description>
-      Simple joint limiter using clamping approach.
+      Simple joint limiter using clamping approach. Warning: clamping can cause discontinuities.
     </description>
   </class>
 </library>

joint_limits/package.xml

@@ -1,7 +1,7 @@
 <package format="3">
   <name>joint_limits</name>
   <version>3.12.0</version>
-  <description>Package for with interfaces for handling of joint limits for use in controllers or in hardware. The package also implements a simple, default joint limit strategy by clamping the values.</description>
+  <description>Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements a simple, default joint limit strategy by clamping the values.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

joint_limits/src/joint_limiter_interface.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/// \author Denis Stogl
+/// \author Dr. Denis Stogl
 
 #include "joint_limits/joint_limiter_interface.hpp"
 
@@ -39,7 +39,7 @@ bool JointLimiterInterface<JointLimits>::init(
   // TODO(destogl): get limits from URDF
 
   // Initialize and get joint limits from parameter server
-  for (auto i = 0ul; i < number_of_joints_; ++i)
+  for (size_t i = 0; i < number_of_joints_; ++i)
   {
     if (!declare_parameters(joint_names[i], node))
     {

joint_limits/src/simple_joint_limiter.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, PickNik Inc.
+// Copyright (c) 2023, PickNik Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -62,7 +62,7 @@ bool SimpleJointLimiter<JointLimits>::on_enforce(
 
   bool position_limit_triggered = false;
 
-  for (auto index = 0u; index < num_joints; ++index)
+  for (size_t index = 0; index < num_joints; ++index)
   {
     desired_pos[index] = desired_joint_states.positions[index];
 
@@ -143,8 +143,7 @@ bool SimpleJointLimiter<JointLimits>::on_enforce(
 
   if (position_limit_triggered)
   {
-    std::ostringstream ostr;
-    for (auto index = 0u; index < num_joints; ++index)
+    for (size_t index = 0; index < num_joints; ++index)
     {
       // Compute accel to stop
       // Here we aren't explicitly maximally decelerating, but for joints near their limits this
@@ -171,7 +170,7 @@ bool SimpleJointLimiter<JointLimits>::on_enforce(
       pos_limit_trig_jnts.begin(), pos_limit_trig_jnts.end(), [](bool trig) { return trig; }) > 0)
   {
     std::ostringstream ostr;
-    for (auto index = 0u; index < num_joints; ++index)
+    for (size_t index = 0; index < num_joints; ++index)
     {
       if (pos_limit_trig_jnts[index]) ostr << joint_names_[index] << " ";
     }

joint_limits/test/test_simple_joint_limiter.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/// \author Denis Stogl
+/// \author Dr. Denis Stogl
 
 #include <gmock/gmock.h>
 

joint_limits_interface/CMakeLists.txt

@@ -5,7 +5,6 @@ find_package(ament_cmake REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(urdf REQUIRED)
-find_package(backward_ros REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

joint_limits_interface/package.xml

@@ -18,7 +18,6 @@
 
   <depend>rclcpp</depend>
   <depend>urdf</depend>
-  <depend>backward_ros</depend>
 
   <build_depend>hardware_interface</build_depend>