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

cheers,
Tom

2011/4/4 Björn Giesler <bjoern@giesler.de>

> Hi,
>
> I have a robot model in URDF that has several joints. Some of them can only
> take two states, lower limit or upper limit. Since I have the limits
> specified in the URDF file, I'd like to know if there's a way to get at the
> joint limits from the KDL tree, or some other way short of manually walking
> through the XML? I haven't found anything in the API docs so I thought I'd
> ask here.
>
> Thanks a lot in advance,
> Björn
> --
> Björn Giesler
> bjoern@giesler.de
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