URDF joint limititations
Hi all,
I have a SolidWorks model of my robot which I have been able to get into RVIZ/MoveIt. This is tested and generally works well.
Now I need a more accurate model, one feature of which is to properly constrain my joint angles. In the initial model the angles were set up to move between [-pi,pi] which was arbitrary and does not represent the range of motion of the actuators. These constraints were crudely configured by setting them in the URDF exporter plugin. But now I want to limit the joints to what I have configured in SolidWorks using the mates.
In SolidWorks I have setup mates that constrains the joints to the region I want using the "Limit Angle" advanced mate. Whilst this constraint works nicely in SolidWorks, allowing me to move the joints within the correct region, i have not been able to get this same functionality into ROS/URDF.
Ideally I would like to import these mates automatically so that if/when i change the model, this is updated in the URDF upon exporting. Is there a way to do this or am i stuck with manually setting these limits each time in the exporter tool?
Regards and thanks in advance,
Chris.
