From d356f305fe7070983822cabc9f2be550489a7ef1 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 23 Jan 2024 15:18:15 +0100
Subject: [PATCH] Enforce limits before calling write method of the hardware

---
 hardware_interface/src/resource_manager.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 84e1a24d94..9746835cb9 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1403,6 +1403,14 @@ HardwareReadWriteStatus ResourceManager::write(
     }
   };
 
+  // Enforce limits on the commands
+  for (auto & hw_limiter : resource_storage_->hw_command_limiter_)
+  {
+    for (auto & joint_limiters : hw_limiter.second)
+    {
+      joint_limiters.enforce_limits(period);
+    }
+  }
   write_components(resource_storage_->actuators_);
   write_components(resource_storage_->systems_);