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Added components to dynamically set joint limits #847
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Example usage here: osrf/subt#948 . |
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Looks pretty good. I have a few comments that should be easy to address.
I addressed all review comments and added a new (de)serialization test for the newly added components. I was thinking about removing the |
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Approving with one minor comment.
Waiting until the end of September to release |
Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
I'm going to retarget this to |
I recommend requiring version 2.5 of ignition-physics2 |
I think the docker cache is preventing new gzdev values in the Ubuntu builds:
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Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
I increased the minimum required version. |
looks like the docker cache has been refreshed, so the Ubuntu Jenkins jobs are passing, though Actions have some issues |
The failure in the Focal Github Action is because a different version of DART (6.9) is used there. I see we've dealt with this before, but I'm not sure how it works: |
maybe similar to gazebosim/gz-physics@65397fb ? |
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## ign-gazebo3 #847 +/- ##
===============================================
- Coverage 77.64% 77.57% -0.08%
===============================================
Files 222 225 +3
Lines 12805 12885 +80
===============================================
+ Hits 9942 9995 +53
- Misses 2863 2890 +27
Continue to review full report at Codecov.
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@osrf-jenkins run tests please |
🎉 New feature
Summary
This PR adds support for dynamic setting of joint limits (position, velocity and effort).
Depends on gazebosim/gz-physics#260 (and also gazebo-forks/dart#26, though it is not needed if it's no problem that some limits are not enforced).
Test it
Integration tests were added, see the usage in them.
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge
Codecheck fails with
src/systems/physics/Physics.cc:1943: Small and focused functions are preferred: PhysicsPrivate::UpdatePhysics() has 534 non-comment lines (error triggered by exceeding 500 lines). [readability/fn_size] [1]
, I don't really know what to do about that.This is aimed at running in DARPA SubT finals.