Open firesurfer opened 1 year ago
We had discussions about this in the past, see #62. However, you do have a point that this might have to be documented.
If I understand the changes in #62 correctly then it is a good idea to not use the auto generated joint_limits.yaml
from moveit.
Additionally I guess I have to add some documentation for how to setup multiarm environments because in those one prob. needs to adapt the limits file by hand.
I have a custom setup with moveit2 where I use the moveit setup assistant to generate the necessary configuration files. I just realized that the generated
joint_limits.yaml
from the setup assistant misses some parts of thejoint_limits.yaml
file provided by the ur description package.This makes sense given that the setup assistant creates the
joint_limits.yaml
based on the urdf which can only include certain types of limits.When we take for example the
elbow_joint
then the entry in in the limits file provided by the description package looks like this: (which might also be the most interesting one)In the generated file it looks like this (Note I am using a multiarm setup with tf_prefixes set)
I would guess that moveit still takes the joint limits correctly from the URDF somehow.