support: determine actual effort limits

[gavanderhoorn]

Similar to #49: determine the actual effort limits for every joint. This information might be stored in the files on the controller.

• M-10iA
• M-16iB/20
• M-20iA
• M-20iA/10L
• M-430iA/2F
• M-430iA/2P
• LR Mate 200iC
• LR Mate 200iC/5H
• LR Mate 200iD

[gavanderhoorn]

#49 (comment)

[gavanderhoorn]

It's been some time, but with the appearance of Stream Motion we may actually be able to update the xacros with this information.

Wouldn't necessarily be the actual limits, but they will probably be close enough.

[gavanderhoorn]

Stream Motion limits are not the real limits of the hw.

It's doubtful any option on the controller gets to use the real limits, besides the main motion controller which TP uses.

As such, I'm going to close this.

[gavanderhoorn]

Furthermore: there is no single set of limits, they are payload, current pose and current velocity dependent.