Hi everyone!

we implemented a roscontrol HW-Interface for our robot arm and added the jointlimitsinterface. Now, if I use a positioncontrollers/JointPositionController to move the arm, the angles and velocities seem to be limited correctly, but acceleration limits are completely ignored. Do I miss something?

By looking into the code of jointlimitsinterface.h I assume, that there is no acceleration limiter when using a postion controller? Am I right? Only in velocity control?

If so, a little hint in the (otherwise great) documentation would be nice (:

Thanks, Andreas