> See https://wu-ros-pkg.svn.sourceforge.net/svnroot/wu-ros-pkg/stacks/urdf_tools/trunk/arm_kinematics/arm_kinematics.cpp
> search for joint->limits->lower

Thanks Tom!

If you look at the bottom of the urdf code API page
<http://www.ros.org/doc/api/urdf/html/> you'll find direct pointers on
how to access data in a urdf tree.

Björn, would you mind helping out future users with the same problem
by also posting this question on answers.ros.org?  Or even better, you
could add a small example to the urdf parsing tutorial
<http://www.ros.org/wiki/urdf/Tutorials/Parse%20a%20urdf%20file> ;-)

Thanks!

Wim


-- 
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)