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The joint_1 and joint_3 position limits were written as {-2*pi} and
{2*pi} instead of ${-2*pi} and ${2*pi}, so xacro left them as literal
strings and ros2_control skipped them:
Error parsing the limits for the interface: position from the tags
[min: '{-2*pi}' and max: '{2*pi}'] ... Skipping it
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Summary
The joint_1 and joint_3 position limits in
irb4600.ros2_control.xacrowere missing the$, so xacro left them as literal strings:Evidence
Before:
ros2_control_nodeskips those limits:After:
xacro irb4600_60_205.xacroexpands them to-6.283185307179586/6.283185307179586and the warnings are gone.Merge Danger
Door: two-way
Blast Radius: IRB 4600
ros2_control now applies the intended command limits for joint_1 and joint_3 on all three IRB 4600 variants. They are wider than the URDF joint limits, so the URDF limits still govern motion.
🤖 Generated with Claude Code