Limit acceleration in JointPositionController

edit

Hi everyone!

we implemented a ros_control HW-Interface for our robot arm and added the joint_limits_interface. Now, if I use a position_controllers/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 joint_limits_interface.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