layered_hardware_extensions

A ros_control layer implementation for ros_control_extensions

Plugins: layered_hardware_extension_plugins

layered_hardware_extensions/ExtendedJointLimitsLayer

• implements procedures for joint_limits_interface (i.e. command saturation for hardware_interface::{Position, Velocity, Effort}JointInterface) & joint_limits_interface_extensions (i.e. for hardware_interface::PosVelJointInterface & hardware_interface_extensions::PosVelEffJointInterface)
• supports both hard & soft limits

layered_hardware_extensions/Dummy{PosVel, PosVelEff}ActuatorLayer

• implements dummy actuators position-controlled with profile velocity (& effort limit)