Does UR5, (or UR manipulators in general), still need to use the joint_limited version of the urdf's
When I was using the urdf for UR5, the ur5_robot.urdf.xacro as the top level urdf and the moveit setup assistant to generate the moveit_config for my manipulator, most of the "random valid" goal configurations in RViz cannot find a plan. I spent some time trying to find out why. Then I discovered that if I set the joint_limited parameter from "false" to "true" in the ur5_robot.urdf.xacro file and redo the moveit_config then most of the "random valid" goals configurations in RViz can find a plan. Then, I search in the internet and found "Elbow joint self-collisions break path planning when full joint space is used on UR5 #265". Gentlemen there discussed the topic on joint limits for UR5. That was October of 2016.
I wonder if the issue has been resolved and do we still need to use the joint limited versions of urdf when using Universal Robots and MoveIt at the same time.
Your help would be very much appreciated.