add hard joint limits config

Signed-off-by: Paul Gesel <paulgesel@gmail.com>

src/picknik_ur_base_config/config/config.yaml

@@ -147,6 +147,9 @@ moveit_params:
   joint_limits:
     package: "picknik_ur_base_config"
     path: "config/moveit/joint_limits.yaml"
+  servo_joint_limits:
+    package: "picknik_ur_base_config"
+    path: "config/moveit/hard_joint_limits.yaml"
   pilz_cartesian_limits:
     package: "picknik_ur_base_config"
     path: "config/moveit/pilz_cartesian_limits.yaml"

src/picknik_ur_base_config/config/moveit/hard_joint_limits.yaml

@@ -0,0 +1,87 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+#
+# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit
+joint_limits:
+  shoulder_pan_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 90.0
+    max_effort: 150.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  30.0
+    min_position: !degrees -180.0
+  shoulder_lift_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 90.0
+    max_effort: 150.0
+    max_position: !degrees  90.0
+    max_velocity: !degrees  30.0
+    min_position: !degrees -270.0
+  elbow_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 90.0
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  30.0
+    min_position: !degrees -180.0
+  wrist_1_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 90.0
+    max_effort: 28.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  60.0
+    min_position: !degrees -180.0
+  wrist_2_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 180.0
+    max_effort: 28.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  60.0
+    min_position: !degrees -180.0
+  wrist_3_joint:
+    has_acceleration_limits: true
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_acceleration: !degrees 180.0
+    max_effort: 28.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  60.0
+    min_position: !degrees -360.0
+  robotiq_85_left_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 0.5
+    has_acceleration_limits: true
+    max_acceleration: 1.0

src/picknik_ur_base_config/config/moveit/ur_servo.yaml

@@ -33,7 +33,7 @@ publish_joint_accelerations: false
 ## Plugins for smoothing outgoing commands
 use_smoothing: true
 smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter   
+acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter
 
 ## MoveIt properties
 move_group_name: manipulator  # Often 'manipulator' or 'arm'

src/picknik_ur_gazebo_config/config/moveit/ur_servo.yaml

@@ -33,7 +33,7 @@ publish_joint_accelerations: false
 ## Plugins for smoothing outgoing commands
 use_smoothing: true
 smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter   
+acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter
 
 ## MoveIt properties
 move_group_name: manipulator  # Often 'manipulator' or 'arm'

src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml

@@ -31,7 +31,7 @@ publish_joint_accelerations: false
 ## Plugins for smoothing outgoing commands
 use_smoothing: true
 smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin"
-acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter   
+acceleration_filter_update_rate: 0.01 # [seconds] Must match the publish_period parameter
 
 ## MoveIt properties
 move_group_name: manipulator  # Often 'manipulator' or 'arm'