Hi!

AFAIK, a KDL::Tree does not save information about joint limits (please
correct me, if I am wrong). But if you only want to access the information
you already have in a URDF file, I also can recommend the implementation Tom
mentioned.

As an alternative I attached a code snippet about extracting information
(position and velocity limits) of the joints in a kdl tree from the
corresponding urdf model. This method was inspired and derived from the
already mentioned arm_kinematics class. But be aware, the attached code is
in an early development state! :-)

If you plan to do own development in this field, I would be interested in
sharing thoughts!


:-) Marcus



2011/4/4 Wim Meeussen <meeussen@willowgarage.com>

> > 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)
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