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what are the units in joint_limits.yaml?

asked 2016-09-05 04:53:20 -0500

gutianqi gravatar image

Hello! In joint_limits.yaml, there are two kinds of limits which are max_velocity and max_acceleration. I wonder what are the units of those limits? max_velocity : m/s or rpm ? max_acceleration : m/s2 or rpm/s? I will be grateful if any of you could help! Thank you!

Gu Tianqi!

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answered 2016-09-05 05:00:08 -0500

gvdhoorn gravatar image

updated 2019-11-24 02:22:33 -0500

(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, metres.

So:

  • revolute joints:
    • position: radians
    • velocity: radians/sec
    • acceleration: radians/sec^2
    • jerk: radians/sec^3
  • prismatic (or linear) joints:
    • position: metres
    • velocity: metres/sec
    • acceleration: metres/sec^2
    • jerk: metres/sec^3

See also:

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Asked: 2016-09-05 04:53:20 -0500

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Last updated: Nov 24 '19