From c4c283ae1686f8184b4f71e50f478c06019603c3 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sun, 24 Dec 2023 10:04:22 -0500
Subject: [PATCH] Add limits to the continuous joints (#387) (#412)
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(cherry picked from commit d0db83ff523db948900ea981ac905a5d9d6d4dbe)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
---
 .../diffbot/urdf/diffbot_description.urdf.xacro                 | 2 ++
 .../rrbot/urdf/rrbot_description.urdf.xacro                     | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro b/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
index 263be605..a5be5c6a 100644
--- a/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
+++ b/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
@@ -49,6 +49,7 @@
       <origin xyz="0 -${base_width/2} ${z_offset}" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <dynamics damping="0.2"/>
+      <limit effort="100" velocity="1.0"/>
     </joint>
 
     <!-- left wheel Link -->
@@ -84,6 +85,7 @@
       <origin xyz="0 ${base_width/2} ${z_offset}" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <dynamics damping="0.2"/>
+      <limit effort="100" velocity="1.0"/>
     </joint>
 
     <!-- right wheel Link -->
diff --git a/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro b/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro
index a86af5c6..4017ab63 100644
--- a/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro
+++ b/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro
@@ -50,6 +50,7 @@
     <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0.7"/>
+    <limit effort="100" velocity="1.0"/>
   </joint>
 
   <!-- Middle Link -->
@@ -85,6 +86,7 @@
     <origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0.7"/>
+    <limit effort="100" velocity="1.0"/>
   </joint>
 
   <!-- Top Link -->