message: added joint limits checking in franka control node
diff: @@ -171,6 +171,7 @@ int main(int argc, char** argv) {
  ros::Time now = ros::Time::now();
  control_manager.update(now, now - last_time);
  + franka_control.checkJointLimits();
  last_time = now;
  if (!ros::ok()) {
  @@ -184,9 +185,11 @@ int main(int argc, char** argv) {
  if (period.toSec() == 0.0) {
  // Reset controllers before starting a motion
  control_manager.update(now, period, true);
  + franka_control.checkJointLimits();
  franka_control.reset();
  } else {
  control_manager.update(now, period);
  + franka_control.checkJointLimits();
  franka_control.enforceLimits(period);
  }
  return ros::ok();
  