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Extend parsing of acceleration, deceleration and jerk limits from limit tag #212

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Extend parsing of acceleration, deceleration and jerk limits from limit tag #212

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Extend parsing of acceleration, deceleration and jerk limits from lim…
saikishor Feb 16, 2025
d0d7d3a
Use acceleration limit when no deceleration limit is present
saikishor Mar 27, 2025
22d0e79
Add check for the negative acceleration value
saikishor Mar 27, 2025
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73 changes: 73 additions & 0 deletions urdf_parser/src/joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,11 @@ bool parseJointLimits(JointLimits &jl, tinyxml2::XMLElement* config)
{
try {
jl.effort = strToDouble(effort_str);
if (jl.effort < 0.0)
{
CONSOLE_BRIDGE_logError("effort value (%s) is negative", effort_str);
return false;
}
} catch(std::runtime_error &) {
CONSOLE_BRIDGE_logError("effort value (%s) is not a valid float", effort_str);
return false;
Expand All @@ -156,12 +161,80 @@ bool parseJointLimits(JointLimits &jl, tinyxml2::XMLElement* config)
{
try {
jl.velocity = strToDouble(velocity_str);
if (jl.velocity < 0.0)
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Is a value of zero valid for velocity, acceleration, and jerk limits? Seems to only make sense as a backward way of disabling the joint.

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Right now, by default the velocity limit is set to zero, that's the reason I'm only checking for the negative values

{
CONSOLE_BRIDGE_logError("velocity value (%s) is negative", velocity_str);
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I would say that it would help parsing the error logs to say velocity limit instead of velocity value but the rest of the fie seems to already be written that way.

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Sure

return false;
}
} catch(std::runtime_error &) {
CONSOLE_BRIDGE_logError("velocity value (%s) is not a valid float", velocity_str);
return false;
}
}

// Get joint acceleration limit
const char* acceleration_str = config->Attribute("acceleration");
if (acceleration_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no acceleration, using default value");
jl.acceleration = std::numeric_limits<double>::infinity();
}
else
{
try {
jl.acceleration = strToDouble(acceleration_str);
if (jl.acceleration < 0.0)
{
CONSOLE_BRIDGE_logError("acceleration value (%s) is negative", velocity_str);
return false;
}
} catch(std::runtime_error &) {
CONSOLE_BRIDGE_logError("acceleration value (%s) is not a valid float", acceleration_str);
return false;
}
}

// Get joint deceleration limit
const char* deceleration_str = config->Attribute("deceleration");
if (deceleration_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no deceleration, using acceleration limit");
jl.deceleration = jl.acceleration;
}
else
{
try {
jl.deceleration = strToDouble(deceleration_str);
if (jl.deceleration < 0.0)
{
CONSOLE_BRIDGE_logError("deceleration value (%s) is negative", deceleration_str);
return false;
}
} catch(std::runtime_error &) {
CONSOLE_BRIDGE_logError("deceleration value (%s) is not a valid float", deceleration_str);
return false;
}
}

// Get joint jerk limit
const char* jerk_str = config->Attribute("jerk");
if (jerk_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no jerk, using default value");
jl.jerk = std::numeric_limits<double>::infinity();
}
else
{
try {
jl.jerk = strToDouble(jerk_str);
if(jl.jerk < 0.0)
{
CONSOLE_BRIDGE_logError("jerk value (%s) is negative", jerk_str);
return false;
}
} catch(std::runtime_error &) {
CONSOLE_BRIDGE_logError("jerk value (%s) is not a valid float", jerk_str);
return false;
}
}

return true;
}

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5 changes: 4 additions & 1 deletion urdf_parser/test/urdf_unit_test.cpp
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Expand Up @@ -178,7 +178,7 @@ TEST(URDF_UNIT_TEST, parse_joint_doubles)
" <child link=\"l2\"/>"
" <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>"
" <dynamics damping=\"87.098\" friction=\"3.1290\"/>"
" <limit lower=\"12.34\" upper=\"22.999\" effort=\"99.0\" velocity=\"23.0\"/>"
" <limit lower=\"12.34\" upper=\"22.999\" effort=\"99.0\" velocity=\"23.0\" acceleration=\"10.0\" deceleration=\"5.0\" jerk=\"200.0\"/>"
" <safety_controller soft_lower_limit=\"8.765\" soft_upper_limit=\"9.003\" k_position=\"7.0034\" k_velocity=\"9.998\"/>"
" <calibration rising=\"8.654\" falling=\"0.0445\"/>"
" <mimic joint=\"j2\" multiplier=\"9.87\" offset=\"0.098\"/>"
Expand All @@ -204,6 +204,9 @@ TEST(URDF_UNIT_TEST, parse_joint_doubles)
EXPECT_EQ(22.999, urdf->joints_["j1"]->limits->upper);
EXPECT_EQ(99.0, urdf->joints_["j1"]->limits->effort);
EXPECT_EQ(23.0, urdf->joints_["j1"]->limits->velocity);
EXPECT_EQ(10.0, urdf->joints_["j1"]->limits->acceleration);
EXPECT_EQ(5.0, urdf->joints_["j1"]->limits->deceleration);
EXPECT_EQ(200.0, urdf->joints_["j1"]->limits->jerk);

EXPECT_EQ(8.765, urdf->joints_["j1"]->safety->soft_lower_limit);
EXPECT_EQ(9.003, urdf->joints_["j1"]->safety->soft_upper_limit);
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3 changes: 3 additions & 0 deletions xsd/urdf.xsd
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Expand Up @@ -197,6 +197,9 @@
<xs:attribute name="upper" type="xs:double" default="0" />
<xs:attribute name="effort" type="xs:double" default="0" />
<xs:attribute name="velocity" type="xs:double" default="0" />
<xs:attribute name="acceleration" type="xs:double" default="INF" />
<xs:attribute name="decceleration" type="xs:double" default="INF" />
<xs:attribute name="decceleration" type="xs:double" default="INF" />
Comment on lines +201 to +202
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@SuperJappie08 SuperJappie08 Apr 29, 2025 •
edited
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Shouldn't the second decceleration attribute be jerk

Suggested change
<xs:attribute name="decceleration" type="xs:double" default="INF" />
<xs:attribute name="decceleration" type="xs:double" default="INF" />
<xs:attribute name="deceleration" type="xs:double" default="INF" />
<xs:attribute name="jerk" type="xs:double" default="INF" />

EDIT: After further reviewing my comment, I realized deceleration (decceleration) was also spelled incorrectly.

</xs:complexType>

<!-- safety controller node type -->
Expand Down