Add joint limits.

diff --git a/tatuira_description/xacro/link_joint.urdf.xacro b/tatuira_description/xacro/link_joint.urdf.xacro
index 0f01741..5d3000f 100644 (file)
--- a/tatuira_description/xacro/link_joint.urdf.xacro
+++ b/tatuira_description/xacro/link_joint.urdf.xacro
@@ -46,6 +46,7 @@
                        <child link="${name}_link"/>
                        <axis xyz="${axis}"/>
                        <origin xyz="${xyz}" rpy="${rpy}" />
+                       <limit effort="3.2" velocity="387.46" />
                </joint>
                
                <gazebo reference="${name}_link">