parser_urdf drops effort and velocity limits for continuous joints

[scpeters]

Environment

• OS Version: Ubuntu 20.04
• Source or binary build? binary 9.6.0 debian

Description

• Expected behavior: effort and velocity limits specified in a URDF continuous joint should be propagated to the SDFormat file when parsing
• Actual behavior: all limit values are ignored for URDF continuous joints

Steps to reproduce

1. Checkout scpeters@75e4226
2. Run cmake and make
3. Run INTEGRATION_urdf_joint_parameters test with ctest -R INTEGRATION_urdf_joint_parameters -VV

Output

79: [ RUN      ] SDFParser.JointAxisParameters
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:71: Failure
79: Value of: limit->HasElement("effort")
79:   Actual: false
79: Expected: true
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:72: Failure
79: Value of: limit->HasElement("velocity")
79:   Actual: false
79: Expected: true
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:73: Failure
79: Expected equality of these values:
79:   value
79:     Which is: 0
79:   limit->Get<double>("effort")
79:     Which is: -1
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:74: Failure
79: Expected equality of these values:
79:   value
79:     Which is: 0
79:   limit->Get<double>("velocity")
79:     Which is: -1
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:71: Failure
79: Value of: limit->HasElement("effort")
79:   Actual: false
79: Expected: true
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:72: Failure
79: Value of: limit->HasElement("velocity")
79:   Actual: false
79: Expected: true
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:73: Failure
79: Expected equality of these values:
79:   value
79:     Which is: 1
79:   limit->Get<double>("effort")
79:     Which is: -1
79: /Users/scpeters/clone/sdformat/test/integration/urdf_joint_parameters.cc:74: Failure
79: Expected equality of these values:
79:   value
79:     Which is: 1
79:   limit->Get<double>("velocity")
79:     Which is: -1
79: [  FAILED  ] SDFParser.JointAxisParameters (68 ms)

[scpeters]

fix in #684

[scpeters]

fixed by #684