1 | initial version |

(I'm assuming this is `joint_limits.yaml`

found in the `config`

sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS *should*), the `joint_limits.yaml`

file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For rotations, that would be *radians*, for distances, *meters*.

So:

- revolute joints:
- velocity: radians/sec
- acceleration: radians/sec^2

- prismatic (or linear) joints:
- velocity: meters/sec
- acceleration: meters/sec^2

2 | No.2 Revision |

(I'm assuming this is `joint_limits.yaml`

found in the `config`

sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS *should*), the `joint_limits.yaml`

file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For ~~rotations, ~~angles, that would be *radians*, for ~~distances, ~~lengths, *meters*.

So:

- revolute joints:
- velocity: radians/sec
- acceleration: radians/sec^2

- prismatic (or linear) joints:
- velocity: meters/sec
- acceleration: meters/sec^2

3 | No.3 Revision |

(I'm assuming this is `joint_limits.yaml`

found in the `config`

sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS *should*), the `joint_limits.yaml`

file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For angles, that would be *radians*, for lengths, *meters*.

So:

- revolute joints:
- velocity: radians/sec
- acceleration: radians/sec^2

- prismatic (or linear) joints:
- velocity: meters/sec
- acceleration: meters/sec^2

See also:

4 | No.4 Revision |

`joint_limits.yaml`

found in the `config`

sub dir of MoveIt configuration packages)

*should*), the `joint_limits.yaml`

file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For angles, that would be *radians*, for lengths, * metersmetres*.

So:

- revolute joints:
- position: radians
- velocity: radians/sec
- acceleration: radians/sec^2
- jerk: radians/sec^3

- prismatic (or linear) joints:
- position: metres
- velocity:
~~meters/sec~~metres/sec - acceleration:
~~meters/sec^2~~metres/sec^2 - jerk: metres/sec^3

See also:

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