Joint velocity limits in position control

[gurbain]

Hi! Iam trying to implement a custom controller with ros2_control, which uses multiple joints both position and velocity interfaces.

When I request a new position on one joint (controlled in position), the gazebo link is moving instantaneously to its new position. This does not happen in ros_control in noetic where the gazebo link will move according to the joint limit set in the URDF.

Since the gazebo_ros_control and gazebo_ros2_control plugins both use the same function SetPosition() in the gazebo API, the only difference I can spot is the absence of a joint_control_interface like implemented here: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/noetic-devel/gazebo_ros_control/src/default_robot_hw_sim.cpp#L302

Am I correct to say that joints' limits are not implemented yet? Is it in the roadmap? I find this feature quite important to reproduce the effect on a real position controlled joint on a robot (for instance with a stepper motor). Thanks a lot!