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The ros2_control joint_trajectory_controller actually doesn't enforce joint limits at all right now :'| There's some work being done to fix that but it's not ready yet.

So, MoveIt is the module that's actually obeying joint limits when it creates a trajectory.

Do you have a joint_limits.yaml file? It will override whatever you have in the URDF.

The ros2_control joint_trajectory_controller actually doesn't enforce joint limits at all right now :'| There's some work being done to fix that but it's not ready yet.

So, MoveIt is the module that's actually obeying joint limits when it creates a trajectory.trajectory. MoveIt is not aware of these limit tags that you have put in the <ros2_control> block.

Do For MoveIt, you have a joint_limits.yaml file? It will override whatever you have in should specify the URDF.joint limits like this:

The ros2_control joint_trajectory_controller actually doesn't enforce joint limits at all right now :'| There's some work being done to fix that but it's not ready yet.

So, MoveIt is the module that's actually obeying joint limits when it creates a trajectory. MoveIt is not aware of these limit tags that you have put in the <ros2_control> block.

For MoveIt, you should specify the joint limits like this:

https://github.com/ros-planning/moveit_resources/blob/57a44ca62132802e4d6155801a0c867edb247db9/panda_description/urdf/panda.urdf#L57