[ros-users] Getting joint limits from KDL tree?

[Björn Giesler]

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
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Björn Giesler
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