tag <max_force> in coman.sdf is read but ignored

[alessandrosettimi]

For using setVelocity you must set the maxforce with:

joint->SetMaxForce(0, 200);
joint->SetVelocity(0,toRad(ref));

instead, it should be read in the .sdf using:

<joint name="LElbj" type="revolute">
   ...
   <physics>.
    ...
    <ode>
     ...
       <max_force>200</max_force>
     ...
    </ode>
   </physics>
  </joint>

max_force is read by gazebo, but not used to set the internal variable. No idea why.

[EnricoMingo]

The maximum force is set in the coman.urdf.xacro (is about 55 Nm). Don't know why is not used automatically but probably you can get it.

[traversaro]

Outdated issue (for more information check #27 ).