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read max_wheel_rates from urdf #185

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fmessmer commented May 7, 2018

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fmessmer commented May 7, 2018

now max_X_rate is found as follows:

  • use 0.0 (i.e. no limit)
  • use velocity_limits of respective joint from urdf
  • overwrite by defaults parameter (in controller.yaml)
  • overwrite by wheel-specific parameter (in controller.yaml)
@fmessmer fmessmer merged commit ced24cb into ipa320:indigo_dev May 7, 2018
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@fmessmer fmessmer deleted the fmessmer:indigo/fix/max_wheel_rate_from_urdf branch May 7, 2018
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