From 613855e58a5970950805d8d563ee6d04b9cf1ca7 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 9 Sep 2020 03:43:02 -0300
Subject: [PATCH] Add joint limits.

---
 tatuira_description/xacro/link_joint.urdf.xacro | 1 +
 1 file changed, 1 insertion(+)

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">
-- 
2.12.0