diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes/Jazzy.rst
index 52fc54a071..4074cbca63 100644
--- a/doc/release_notes/Jazzy.rst
+++ b/doc/release_notes/Jazzy.rst
@@ -70,6 +70,30 @@ hardware_interface
 ******************
 * A portable version for string-to-double conversion was added: ``hardware_interface::stod`` (`#1257 <https://github.com/ros-controls/ros2_control/pull/1257>`_)
 * ``test_components`` was moved to its own package (`#1325 <https://github.com/ros-controls/ros2_control/pull/1325>`_)
+* The ``ros2_control`` tag now supports parsing of the limits from the URDF into the ``HardwareInfo`` structure. More conservative limits can be defined using the ``min`` and ``max`` attributes per interface (`#1472 <https://github.com/ros-controls/ros2_control/pull/1472>`_)
+
+  .. code:: xml
+
+    <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
+      <hardware>
+        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+        <param name="example_param_hw_start_duration_sec">2.0</param>
+        <param name="example_param_hw_stop_duration_sec">3.0</param>
+        <param name="example_param_hw_slowdown">2.0</param>
+      </hardware>
+      <joint name="joint1">
+        <command_interface name="position">
+          <param name="min">-1</param>
+          <param name="max">1</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <limits enable="false"/>
+        </command_interface>
+        <state_interface name="position"/>
+      </joint>
+    </ros2_control>
+
+* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 <https://github.com/ros-controls/ros2_control/pull/1488>`_)
 
 joint_limits
 ************
diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
index cb548b9bf4..d94573bf5e 100644
--- a/hardware_interface/include/hardware_interface/hardware_info.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -171,6 +171,13 @@ struct HardwareInfo
    * The URDF parsed limits of the hardware components joint command interfaces
    */
   std::unordered_map<std::string, joint_limits::JointLimits> limits;
+
+  /**
+   * Map of software joint limits used for clamping the command where the key is the joint name.
+   * Optional If not specified or less restrictive than the JointLimits uses the previous
+   * JointLimits.
+   */
+  std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
 };
 
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index aad1d827ec..14e016df21 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -927,6 +927,16 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
       // Take the most restricted one. Also valid for continuous-joint type only
       detail::update_interface_limits(joint.command_interfaces, limits);
       hw_info.limits[joint.name] = limits;
+      joint_limits::SoftJointLimits soft_limits;
+      if (getSoftJointLimits(urdf_joint, soft_limits))
+      {
+        if (limits.has_position_limits)
+        {
+          soft_limits.min_position = std::max(soft_limits.min_position, limits.min_position);
+          soft_limits.max_position = std::min(soft_limits.max_position, limits.max_position);
+        }
+        hw_info.soft_limits[joint.name] = soft_limits;
+      }
     }
   }
 
diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index 946fda7c15..6a0c11cf72 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -141,6 +141,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_one_interface)
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(2));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint1", "joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -152,6 +154,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_one_interface)
     EXPECT_TRUE(hardware_info.limits.at(joint).has_effort_limits);
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -193,6 +202,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_multi_interface
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(2));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint1", "joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -205,6 +216,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_multi_interface
     // effort and velocity limits won't change as they are above the main URDF hard limits
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -253,6 +271,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_sens
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(2));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint1", "joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -264,6 +284,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_sens
     EXPECT_TRUE(hardware_info.limits.at(joint).has_effort_limits);
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -297,6 +324,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_exte
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(2));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint1", "joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -308,6 +337,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_exte
     EXPECT_TRUE(hardware_info.limits.at(joint).has_effort_limits);
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 
   hardware_info = control_hardware.at(1);
@@ -322,6 +358,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_exte
   EXPECT_EQ(hardware_info.sensors[0].type, "sensor");
   EXPECT_EQ(hardware_info.sensors[0].parameters.at("frame_id"), "kuka_tcp");
   ASSERT_THAT(hardware_info.limits, SizeIs(0));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
 }
 
 TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot)
@@ -346,6 +383,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.joints[0].type, "joint");
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
   for (const auto & joint : {"joint1"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -373,6 +411,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.joints[0].type, "joint");
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -384,6 +424,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
     EXPECT_TRUE(hardware_info.limits.at(joint).has_effort_limits);
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -421,6 +468,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_THAT(hardware_info.transmissions[0].actuators[0].name, "actuator1");
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
   for (const auto & joint : {"joint1"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -451,6 +499,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.joints[0].command_interfaces[0].max, "1");
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -461,6 +511,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
     // effort and velocity limits won't change as they are above the main URDF hard limits
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 
   hardware_info = control_hardware.at(2);
@@ -481,6 +538,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.joints[0].state_interfaces[0].name, HW_IF_POSITION);
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
   for (const auto & joint : {"joint1"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -511,6 +569,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.joints[0].state_interfaces[0].name, HW_IF_POSITION);
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
   for (const auto & joint : {"joint2"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
@@ -521,6 +580,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
     // effort and velocity limits won't change as they are above the main URDF hard limits
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -596,6 +662,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_sensor_only)
   EXPECT_EQ(hardware_info.sensors[1].state_interfaces[0].name, "image");
   // There will be no limits as the ros2_control tag has only sensor info
   ASSERT_THAT(hardware_info.limits, SizeIs(0));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
 }
 
 TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_only)
@@ -656,6 +723,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_only)
   // effort and velocity limits won't change as they are above the main URDF hard limits
   EXPECT_THAT(hardware_info.limits.at("joint1").max_velocity, DoubleNear(0.2, 1e-5));
   EXPECT_THAT(hardware_info.limits.at("joint1").max_effort, DoubleNear(0.1, 1e-5));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
 }
 
 TEST_F(TestComponentParser, successfully_parse_locale_independent_double)
@@ -727,6 +795,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(2));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(1));
+  char joint2_name[] = "joint2";
   for (const auto & joint : {"joint1", "joint2"})
   {
     // Position limits are limited in the ros2_control tag
@@ -737,6 +807,13 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
     EXPECT_TRUE(hardware_info.limits.at(joint).has_effort_limits);
     EXPECT_THAT(hardware_info.limits.at(joint).max_velocity, DoubleNear(0.2, 1e-5));
     EXPECT_THAT(hardware_info.limits.at(joint).max_effort, DoubleNear(0.1, 1e-5));
+    if (strcmp(joint, joint2_name) == 0)
+    {
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).max_position, DoubleNear(0.5, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).min_position, DoubleNear(-1.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_position, DoubleNear(10.0, 1e-5));
+      EXPECT_THAT(hardware_info.soft_limits.at(joint).k_velocity, DoubleNear(20.0, 1e-5));
+    }
   }
 }
 
@@ -905,6 +982,10 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_and_disabled_in
   EXPECT_FALSE(hardware_info.limits.at("joint2").has_jerk_limits);
   EXPECT_THAT(hardware_info.limits.at("joint2").max_velocity, DoubleNear(0.2, 1e-5));
   EXPECT_THAT(hardware_info.limits.at("joint2").max_effort, DoubleNear(0.1, 1e-5));
+  EXPECT_THAT(hardware_info.soft_limits.at("joint2").max_position, DoubleNear(0.5, 1e-5));
+  EXPECT_THAT(hardware_info.soft_limits.at("joint2").min_position, DoubleNear(-1.5, 1e-5));
+  EXPECT_THAT(hardware_info.soft_limits.at("joint2").k_position, DoubleNear(10.0, 1e-5));
+  EXPECT_THAT(hardware_info.soft_limits.at("joint2").k_velocity, DoubleNear(20.0, 1e-5));
 
   EXPECT_TRUE(hardware_info.limits.at("joint3").has_position_limits);
   EXPECT_THAT(hardware_info.limits.at("joint3").min_position, DoubleNear(-M_PI, 1e-5));
@@ -1169,6 +1250,7 @@ TEST_F(TestComponentParser, successfully_parse_parameter_empty)
 
   // Verify limits parsed from the URDF
   ASSERT_THAT(hardware_info.limits, SizeIs(1));
+  ASSERT_THAT(hardware_info.soft_limits, SizeIs(0));
   for (const auto & joint : {"joint1"})
   {
     EXPECT_TRUE(hardware_info.limits.at(joint).has_position_limits);
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index f5f668fd12..31e630059b 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -86,6 +86,7 @@ const auto urdf_head =
     <parent link="link1"/>
     <child link="link2"/>
     <limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
+    <safety_controller soft_lower_limit="-1.5" soft_upper_limit="0.5" k_position="10.0" k_velocity="20.0"/>
   </joint>
   <link name="link2">
     <inertial>