setKDLLimits

[Alessandro Roncone]

Hello,

would it be possible to add a method into trac_ik_lib that sets the limits to the chain used by trac_ik? I am currently customizing the library to have this functionality at runtime, but I thought it would be trivial to add it to the mainstream repo. Something similar to the already available getKDLLimits (i.e. this https://bitbucket.org/traclabs/trac_ik/src/944ca488d2b86e357def2b5c5d82db8bcc62ab4a/trac_ik_lib/include/trac_ik/trac_ik.hpp?at=master&fileviewer=file-view-default#trac_ik.hpp-60 ).

Thank you!

[Alessandro Roncone]

I opened https://bitbucket.org/traclabs/trac_ik/pull-requests/14 to address this issue.

[Alessandro Roncone]

Any comment on this?

[Patrick Beeson]

v2.0 does use a joints.yaml file to allow user to override URDF limits. However, release of v2.0 publicly is stalled at the moment. I will try to look into pulling out just that portion of the code and backporting it into the public v1.x

[Alessandro Roncone]

Ok thank you. That would be really helpful.

[Patrick Beeson]

Manually merged PR14 into master