URDF velocity limit, how it works?
Hello! I've taken the 06-flexible.urdf model from the urdf_tutorial package, and I've added the lines to set a velocity limit on the head_swivel joint into the urdf file. http://wiki.ros.org/urdf/XML/joint
Then I've displayed it on rviz thinking that when I would make a fast change on the joint value, it would take a little more time to get into this position, but what I have found is that the velocity limit is not making any effect in the robot representation. The changes take effect inmediately. So, how is the velocity limit supposed to work?
Thank you very much!
Ruben
Are you using the joint_state_publisher gui slider? I haven't used it in a while but those bypass the velocity limits. You need a controller in operation to respect velocity limits, and then you would be publishing commanded positions into the controller and then watch it work more slowly.
First of all, thank you for your answer. Yes, you are right, I'm using the joint_state_publisher gui sliders, I did not know it bypasses the limit. So, how I could implement this controller in operation? Is there any package to make it, or to make it easier? Thanks!
I've only used the controllers with gazebo following http://gazebosim.org/tutorials?tut=ro... and https://github.com/ros-simulation/gaz... - the controllers can be used outside of gazebo to connect to real hardware, but without real hardware you would need a sim.
Take a look at http://wiki.ros.org/ros_control?distr... also.
Aha! Ok, I understand what you mean. We are assembling a robot, so the idea was keeping the simulation near to the robot and watch both. So, it's better if they move in a similar way. Thank you very much, I will try it.