description: spec limits in degrees.

[gavanderhoorn]

Both rosparam (wiki page) and xacro (with ros/xacro#252 merged) support special yaml constructors which allow conversion of numeric values to radians on-the-fly.

This makes it possible for us to specify joint limits in the config/urXX/joint_limits.yaml files in degrees, which are much more human readable and easier to compare to the spec sheets.

[gavanderhoorn]

This PR is expected to fail until ros/xacro#252 gets merged.

[ipa-nhg]

LGTM 👍 thanks!

But I suggest to wait until the latest xacro package version is released

[gavanderhoorn]

But I suggest to wait until the latest xacro package version is released

Yes, that's my intention.

CI is failing for a different reason though: somehow it can't find ros-*-moveit-core, which is rather curious ..

[gavanderhoorn]

xacro was synced into Melodic, so retriggering CI.

[ipa-nhg]

I tested the simulation locally with the updated release version of the xacro package and it works as expected.
Travis is also happy 😃
--> MERGE PR

[gavanderhoorn]

Thanks for the enthusiasm, but c31636b was actually not supposed to end up in the merge :)

I'll fix it later.

[ipa-nhg]

Ups sorry, I just showed that I had previously reviewed and approved the PR. I didn't scroll again the changed files.

Let me know if you don't have time and I should delete the commit and rebase the branch.

[gavanderhoorn]

I've dropped the commit.

Now that it's a 1 commit PR, it should've been squash-merged, but I've left your merge commit as-is.