Limit thruster system's input thrust cmd

[iche033]

Signed-off-by: Ian Chen ichen@osrfoundation.org

🎉 New feature

Summary

Add two new params to the thruster system for configuring the min and max input thrust cmd:

• <max_thrust_cmd>
• <min_thrust_cmd>

This affects both PID and vel controlled thrusters.

Test it

Run the INTEGRATION_thruster test

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[ahcorde]

what do you think about cheking if min is bigger than max ? Otherwise LGTM

[iche033]

what do you think about cheking if min is bigger than max ?

added check in d795d00

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1

[scpeters]

I just tried merging this forward to main and I see some conflicts with #1269

[scpeters]

I just tried merging this forward to main and I see some conflicts with #1269

never mind there is already a merge-forward PR in #1367, but I think it also is struggling with these conflicts

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1