Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_…

…limits

description: spec limits in degrees.

.travis.yml

@@ -13,18 +13,9 @@ env:
   global:
     - CCACHE_DIR=$HOME/.ccache
   matrix:
-    - ROS_DISTRO="kinetic" ROS_REPO=main
-    - ROS_DISTRO="kinetic" ROS_REPO=testing
-    - ROS_DISTRO="kinetic" PRERELEASE=true
-    - ROS_DISTRO="melodic" ROS_REPO=main UPSTREAM_WORKSPACE='github:ros-industrial/[email protected]'
+    - ROS_DISTRO="melodic" ROS_REPO=main 
     - ROS_DISTRO="melodic" ROS_REPO=testing
-    - ROS_DISTRO="melodic" PRERELEASE=true UPSTREAM_WORKSPACE='github:ros-industrial/[email protected]'
-
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO="kinetic" ROS_REPO=main
-    - env: ROS_DISTRO="kinetic" ROS_REPO=testing
-    - env: ROS_DISTRO="kinetic" PRERELEASE=true
+    - ROS_DISTRO="melodic" PRERELEASE=true
 
 install:
   - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .industrial_ci

ur_description/config/ur10/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur10e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur16e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0

ur_description/config/ur3/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0

ur_description/config/ur3e/joint_limits.yaml

@@ -15,19 +15,19 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,36 +45,36 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0