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fix issue of not listing new JTCs #1891

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fix issue of not listing new JTCs #1891

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90 changes: 45 additions & 45 deletions rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,55 +71,55 @@ def get_joint_limits(node, joints_names, use_smallest_joint_limits=True):
continue
name = child.getAttribute("name")

if name in joints_names:
try:
limit = child.getElementsByTagName("limit")[0]
try:
limit = child.getElementsByTagName("limit")[0]
try:
minval = float(limit.getAttribute("lower"))
maxval = float(limit.getAttribute("upper"))
except ValueError:
if jtype == "continuous":
minval = -pi
maxval = pi
else:
raise Exception(
f"Missing lower/upper position limits for the joint : {name} of type : {jtype} in the robot_description!"
)
try:
maxvel = float(limit.getAttribute("velocity"))
except ValueError:
minval = float(limit.getAttribute("lower"))
maxval = float(limit.getAttribute("upper"))
except ValueError:
if jtype == "continuous":
minval = -pi
maxval = pi
else:
raise Exception(
f"Missing velocity limits for the joint : {name} of type : {jtype} in the robot_description!"
f"Missing lower/upper position limits for the joint : {name} of type : {jtype} in the robot_description!"
)
except IndexError:
try:
maxvel = float(limit.getAttribute("velocity"))
except ValueError:
raise Exception(
f"Missing velocity limits for the joint : {name} of type : {jtype} in the robot_description!"
)
except IndexError:
if name in joints_names:
raise Exception(
f"Missing limits tag for the joint : {name} in the robot_description!"
)
safety_tags = child.getElementsByTagName("safety_controller")
if use_small and len(safety_tags) == 1:
tag = safety_tags[0]
if tag.hasAttribute("soft_lower_limit"):
minval = max(minval, float(tag.getAttribute("soft_lower_limit")))
if tag.hasAttribute("soft_upper_limit"):
maxval = min(maxval, float(tag.getAttribute("soft_upper_limit")))

mimic_tags = child.getElementsByTagName("mimic")
if use_mimic and len(mimic_tags) == 1:
tag = mimic_tags[0]
entry = {"parent": tag.getAttribute("joint")}
if tag.hasAttribute("multiplier"):
entry["factor"] = float(tag.getAttribute("multiplier"))
if tag.hasAttribute("offset"):
entry["offset"] = float(tag.getAttribute("offset"))

dependent_joints[name] = entry
continue

if name in dependent_joints:
continue

joint = {"min_position": minval, "max_position": maxval}
joint["has_position_limits"] = jtype != "continuous"
joint["max_velocity"] = maxvel
free_joints[name] = joint
safety_tags = child.getElementsByTagName("safety_controller")
if use_small and len(safety_tags) == 1:
tag = safety_tags[0]
if tag.hasAttribute("soft_lower_limit"):
minval = max(minval, float(tag.getAttribute("soft_lower_limit")))
if tag.hasAttribute("soft_upper_limit"):
maxval = min(maxval, float(tag.getAttribute("soft_upper_limit")))

mimic_tags = child.getElementsByTagName("mimic")
if use_mimic and len(mimic_tags) == 1:
tag = mimic_tags[0]
entry = {"parent": tag.getAttribute("joint")}
if tag.hasAttribute("multiplier"):
entry["factor"] = float(tag.getAttribute("multiplier"))
if tag.hasAttribute("offset"):
entry["offset"] = float(tag.getAttribute("offset"))

dependent_joints[name] = entry
continue

if name in dependent_joints:
continue

joint = {"min_position": minval, "max_position": maxval}
joint["has_position_limits"] = jtype != "continuous"
joint["max_velocity"] = maxvel
free_joints[name] = joint
return free_joints
2 changes: 2 additions & 0 deletions rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,8 @@ def _srv_exists(node, srv_name, srv_type):

srv_list = node.get_service_names_and_types()
srv_info = [item for item in srv_list if item[0] == srv_name]
if len(srv_info) == 0:
return False
srv_obtained_type = srv_info[0][1][0]
return srv_type == srv_obtained_type

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