Hello Wim,

Thanks for the suggestion.

Regards
Shashank

On Sat, Mar 5, 2011 at 10:23 PM, Wim Meeussen <meeussen@willowgarage.com>wrote:

> Shashank, (CC to ros-users)
>
> > I have parsed a URDF model of my robot ( URDF includes joint limits ) via
> > KDL parser to build a kdl::chain.
> > This chain I want to use for doing inverse position kinematic solving
> using
> > the KDL::ChainIkSolverPos_NR_JL class.
> > This class requires joint limits. Now is it possible somehow to extract
> > these values (joint limits from urdf) using the parser? Is there a better
> > way to do it than hardcoding (defining it specifically) it?
>
> A urdf tree contains joint limits, but a kdl tree/chain does not.  In
> the kdl world the joint limits are not part of the model, but instead
> are parameters to some of the solvers.  The best way to get access to
> the joint limits is by using the urdf parser. You can pass the same
> urdf file to both the urdf parser and the kdl parser (internally the
> kdl parser uses the urdf parser before it converts the model to a kdl
> format). The code api of the urdf model
> <http://www.ros.org/doc/api/urdf/html/classurdf_1_1Model.html> should
> help you find the joint limits.
>
> Hope this helps,
>
> Wim
>
>
>
>
> --
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
>