From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 9 Sep 2020 06:43:02 +0000 (-0300)
Subject: Add joint limits.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=613855e58a5970950805d8d563ee6d04b9cf1ca7;p=tatuira.git

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
--- 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">