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URDF: Add limits to the continuous joints #387

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merged 1 commit into from
Dec 24, 2023
Merged

URDF: Add limits to the continuous joints #387

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2 changes: 2 additions & 0 deletions ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand Down Expand Up @@ -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 -->
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2 changes: 2 additions & 0 deletions ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand Down Expand Up @@ -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 -->
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