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Those are documented here, I'll copy pasta though:

lower (optional, defaults to 0) - An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

upper (optional, defaults to 0) - An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See safety limits.

velocity (required) - An attribute for enforcing the maximum joint velocity. See safety limits.

Effort is between 0 and 100 (units are %) and velocity is meters per second.

Those are documented here, I'll copy pasta though:

lower (optional, defaults to 0) - An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

upper (optional, defaults to 0) - An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See safety limits.

velocity (required) - An attribute for enforcing the maximum joint velocity. See safety limits.

Effort is between 0 and 100 (units are %) and velocity is radians per second for revolute and continuous joints and meters per second. second for linear or prismatic joints.