Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_limits

description: spec limits in degrees.

Author: ipa-nhg

ur_description/config/ur10/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur10e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur16e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur3/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0

ur_description/config/ur3e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0