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UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots
BSD 3-Clause "New" or "Revised" License
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Reorder joint limits #63

Closed sea-bass closed 1 year ago

sea-bass commented 1 year ago

This is an alternative version of https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/pull/62, which keeps the acceleration limits set to false (since this is done specifically for the MoveIt config).

In essence, this just reorders a bunch of parameters.

gavanderhoorn commented 1 year ago

Just to mention it: the previous order was (supposed to be) alphabetic, which is a common practice for these kinds of files -- and many other things in ROS.

sea-bass commented 1 year ago

I see. Well, I have no reason to get these changes in as they don't do anything functionally, so feel free do with them as you'd like :)

gavanderhoorn commented 1 year ago

As someone who was involved with maintenance of these packages for a long time, I just wanted to provide some historical context and rationale.

I'm not a maintainer here, so it's up to @fmauch et al. to decide.

fmauch commented 1 year ago

I don't have a very strong opinion on this. I think, if we separate position, velocities and efforts by an empty line it will be a valid alternative to an alphabetic ordering. However, it probably boils down to personal preference...

sea-bass commented 1 year ago

I think if none of us have strong opinions, maybe we go by historical rationale and close this?