- c++11
- Destruct layer instances before unloading layer plugins
- Refactor LayeredHardware to be used as a parent class
- Reset position-based joint limits when switching controllers
- Add accessor methods to layers (LayeredHardware::{size(), layer()})
- Add link to layered_hardware_gazebo package in README
- Enable a link to layered_hardware_epos in README
- Make robot description optional
- Support soft joint limits
- Updated example
- support LayerBase::prepareSwitch()
- Refactored layers
- Updated README
- Initial version
- Compilable on kinetic & melodic
- Tested with launch/example.launch
- Contributors: Yoshito Okada