Will the joint limits in my URDF file limit the real components or just the simulation? (ROS2: Foxy)

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ros2-control ros2-controllers rrbot Ros Robotics

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  • ros2_control_demos

    This repository aims at providing examples to illustrate ros2_control and ros2_controllers

    • There is no guarantee that limits in your URDF will affect the actual robot hardware. You need to make sure the hardware driver is applying those limits by either parsing the URDF or using parameters specified via the ros2_control xacro file, which is typically included in the robot's description (e.g., https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro).

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