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There is currently no support for limit switches in ros_control. If you need to use limit switch information inside a controller, it should be rather straightforward to support them. You would need to create a new type of hardware interface that wraps the limit switch raw data (boolean), register such an interface in your RobotHW specialization, and use it in a controller.

OTOH, if you're using limit switch info in your RobotHW implementation, and not in your controllers, there's no need to expose it as a ros_control interface (as mentioned in the original answer).