Merge pull request #516 from gavanderhoorn/convert_limits_files

Use 'ros_control style' joint limit files

ur_description/config/ur10/joint_limits.yaml

@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718

ur_description/config/ur10e/joint_limits.yaml

@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR10e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718

ur_description/config/ur16e/joint_limits.yaml

@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718