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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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Incoherent joint limits #474

Open miguelprada opened 7 years ago

miguelprada commented 7 years ago

I just realised that the joint limits in hironx_moveit_config package are not coherent between HiroNX.urdf and joint_limits.yaml.

I'm working with the assumption that the URDF specifies hardware limits, and the MoveIt-specific joint_limits.yaml file can be used to override these values for planning. If that's correct, it makes no sense to plan with velocity limits higher those really supported by the robot hardware.

Is my understanding of how this works incorrect? Are there any real velocity limits that could be introduced in the URDF?

130s commented 7 years ago

Quick response/guess is that some information in the URDF in question was made up for certain reason at the time of its creation (just a guess...it might have been more crucial for the manufacturer then, or not available for any reason etc.) so that it's possible that all the info is not necessarily correct.

7675t commented 6 years ago

Related to this, I cannot find which file should be modified to change the velocity limit of joints. Could you point me which file is actually used with HiroNX ?