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[BUG]: Incorrect joint limits set #44
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Per a discussion with @hkolano, it will be necessary to update the MoveIt2 RViz2 configuration to increase the joint limits there. The original reason that I set the joint limits higher than the rating was because MoveIt2 was throttling the velocity of the manipulator. I was unaware that MoveIt2 was throttling the velocity and that the throttling factor is configurable. It would be good to adjust that configuration file within the scope of this issue as well. |
Issue Description
The joint limits set in the MoveIt2
joint_limits.yaml
andalpha.urdf.xacro
are incorrectly set. They should be set according to the Reach Alpha datasheet.Steps to Reproduce
This error exists regardless of steps taken.
Expected Behavior
The joint limits should be set as follows:
Error Message
No response
Runtime Environment
This error exists regardless of the runtime environment
Additional Context
The related documentation can be found here. The specific document is the Reach Alpha Integration Manual.
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