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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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cfg: suspicious effort=100 in all xacros #22

Open gavanderhoorn opened 10 years ago

gavanderhoorn commented 10 years ago

All included xacros in motoman_cfg specify an effort limit of 100 for all joints. I'm wondering whether those values are based on any real limits, or are merely 'placeholders'.

I'm not sure what would be better values, but 0 seems to be used in cases where actual limits are unknown (this should be verified).

shaun-edwards commented 10 years ago

These are definitely placeholders. I don't have much hope that we will get this information from the vendor. We might consider leaving these values out entirely (unless they are needed somewhere of which I am not aware).

gavanderhoorn commented 10 years ago

Shaun Edwards wrote:

These are definitely placeholders. I don't have much hope that we will get this information from the vendor. We might consider leaving these values out entirely (unless they are needed somewhere of which I am not aware).

Well the tag itself is a required tag, so it cannot be removed. I've seen many URDFs specify a limit of 0 if it is unsupported or unknown (all Fanuc URDFs also have 0 for the effort limits).