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Acceleration limits on position interfaces #435

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dheera opened this issue Apr 1, 2020 · 1 comment
Open

Acceleration limits on position interfaces #435

dheera opened this issue Apr 1, 2020 · 1 comment

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@dheera
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dheera commented Apr 1, 2020 •
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It seems PositionJointSaturationInterface and PositionSoftLimitsInterface entirely ignore the presence of has_acceleration_limits and max_acceleration, and immediately command the robot to go at the max velocity when a new target is set.

I'd be interested to think about adding support for these interfaces to read and use acceleration limits. Let me know if that is of interest.
@Achllle
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Achllle commented Apr 16, 2020

related: #264 and #388

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@dheera @Achllle