Define default maximum accelerations for MoveIt (backport #645) #981
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(cherry picked from commit 5e3c464)
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fmauch
approved these changes
Apr 25, 2024
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This defines default values for maximum joint accelerations, as MoveIt is otherwise not able to perform time parametrization. The 5rad/s² are from the discussion in UniversalRobots/Universal_Robots_ROS2_Description#46.
This patch only passes these limits to MoveIt. While we could also add them in
ur_description, this seems incorrect. The robot does not inherently have any limits on joint accelerations (only on torques), and other software usingur_descriptionmight be able to handle this differently.This is an automatic backport of pull request #645 done by Mergify.