diff --git a/joint_limits_interface/include/joint_limits_interface/joint_limits.h b/joint_limits_interface/include/joint_limits_interface/joint_limits.h
index f03430925..15513158c 100644
--- a/joint_limits_interface/include/joint_limits_interface/joint_limits.h
+++ b/joint_limits_interface/include/joint_limits_interface/joint_limits.h
@@ -50,6 +50,26 @@ struct JointLimits
       angle_wraparound(false)
   {}
 
+public:
+
+  // Helper function for debuggging, not realtime safe
+  void print()
+  {
+    std::cout << "min_position " << min_position << std::endl;
+    std::cout << "max_position " << max_position << std::endl;
+    std::cout << "max_velocity " << max_velocity << std::endl;
+    std::cout << "max_acceleration " << max_acceleration << std::endl;
+    std::cout << "max_jerk " << max_jerk << std::endl;
+    std::cout << "max_effort " << max_effort << std::endl;
+
+    std::cout << "has_position_limits " << has_position_limits << std::endl;
+    std::cout << "has_velocity_limits " << has_velocity_limits << std::endl;
+    std::cout << "has_acceleration_limits " << has_acceleration_limits << std::endl;
+    std::cout << "has_jerk_limits " << has_jerk_limits << std::endl;
+    std::cout << "has_effort_limits " << has_effort_limits << std::endl;
+    std::cout << "angle_wraparound " << angle_wraparound << std::endl;
+  }
+
   double min_position;
   double max_position;
   double max_velocity;
diff --git a/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.h b/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.h
index 15f1df0d2..53612c539 100644
--- a/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.h
+++ b/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.h
@@ -111,6 +111,27 @@ class PositionJointSaturationHandle
     }
 
     const double cmd = internal::saturate(jh_.getCommand(), min_pos, max_pos);
+
+    // Optional helper code for debugging, not realtime safe ----------
+#define USE_JOINT_LIMIT_DEBUG // Show warnings when joint limits exceeded
+#ifdef USE_JOINT_LIMIT_DEBUG
+    if (cmd != jh_.getCommand())
+    {
+      // Determine if velocity or position is what limited us
+      if (min_pos != min_pos_limit_ || max_pos != max_pos_limit_)
+        std::cout << "VELOCITY LIMIT ";
+      else
+        std::cout << "POSITION LIMIT ";
+
+      // Limit violation details
+      std::cout << jh_.getName() << " position - original: " << jh_.getCommand() << " new: " << cmd
+                << " diff: " << jh_.getCommand() - cmd
+                << " vel_pos_delta: " << (limits_.max_velocity * period.toSec())
+                << std::endl;
+    }
+#endif
+    // ----------------------------------------------------
+
     jh_.setCommand(cmd);
     prev_cmd_ = cmd;
   }