The request 'joint_limits' is ambiguous about the platform, but the most direct match is the ROS Controls joint limits package, which provides joint limiter plug-ins that clamp or soft-limit joint commands 111. Other candidates offer related joint-limit specs or start-state clamping but are less direct 1315.

A question back: Which platform or robot are you working with (e.g. ROS 2 with ros2_control, a specific arm), and do you need to enforce joint limits in software or look up a robot's joint limit specifications?

1. 1

   ROS Controls Joint Limitsgh:ros-controlsverified and signed

   A ros2_control joint limits package whose plug-ins (soft limiter, saturation limiter, trajectory point saturation limiter) enforce simple joint range limits on commands 11.

   Website

   for agents: joint_limits/plugin/JointInterfacesSoftLimiter · joint_limits/plugin/JointInterfacesSaturationLimiter · joint_limits/plugin/JointTrajectoryPointSaturationLimiter

2. 2

   Husarion ROS packagesgh:husarionverified and signed

   Husarion's ROS hardware and MoveIt plug-ins include a ClampStartStateBounds adapter that clamps start state joint positions exceeding their limits 15.

   Website

   for agents: rosbot_moveit/plugin/rosbot_moveit::ClampStartStateBounds · rosbot_hardware_interfaces/plugin/rosbot_hardware_interfaces::RosbotSystem · twist_mux_controller/plugin/twist_mux_controller::TwistMuxController

3. 3

   NWO Capital Mission Controlnworobotics.cloudverified and signed

   Its get_robot_specs action returns a robot's DOF, joint limits, sensors and maximum speed for a given robot type 13.

   Website

   for agents: get_robot_specs · ros2_send_command · query_robot_state

4. 4

   ROS Planning MoveItgh:ros-planningverified and signed

   Its MoveIt ros_control interface plug-ins connect MoveIt controller managers to ros_control controllers, the layer where joint commands are executed 20.

   Website

   for agents: moveit_ros_control_interface/plugin/moveit_ros_control_interface::Ros2ControlManager · moveit_ros_control_interface/plugin/moveit_ros_control_interface::JointTrajectoryControllerAllocator · moveit_ros_control_interface/plugin/moveit_ros_control_interface::Ros2ControlMultiManager