corrected config for raw3-1

cob_hardware_config/robots/raw3-1/config/base_driver.yaml

@@ -8,7 +8,7 @@ nodes:
   ##Wheel 1
   fl_caster_rotation_joint:
     motor_layer:
-      homing_event: 19 # -> digin
+      homing_event: 17 # -> digin
       homing_speed: -5093 # -1.0 rs/s
       homing_offset: -12880
   fl_caster_r_wheel_joint:

cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml

@@ -0,0 +1,90 @@
+
+##################################
+#joint constraint
+##################################
+
+joint_constraint_limits:
+#  arm_elbow_joint: 
+#    ceneter_position: 0 
+#    tolerance_above: 0
+#    tolerance_below:  0
+#  arm_shoulder_lift_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+  arm_shoulder_pan_joint:
+    ceneter_position: -0.675
+    tolerance_above: 0.830
+    tolerance_below: 1.05
+  arm_wrist_1_joint:
+    ceneter_position: -3.14
+    tolerance_above: 1.57
+    tolerance_below: 3.14
+  arm_wrist_2_joint:
+    ceneter_position: -1.5
+    tolerance_above: 1.03
+    tolerance_below: 1.15
+#  arm_wrist_3_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+
+##################################
+#position constraint --> check what required
+##################################
+
+#position_constraint_limits:
+#  arm_elbow_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_shoulder_lift_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_shoulder_pan_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_wrist_1_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_wrist_2_joint:
+#    ceneter_position: -1.5
+#    tolerance_above: 0.7652
+#    tolerance_below: 1.15
+#  arm_wrist_3_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+
+##################################
+#orientation constraint --> check what required
+##################################
+
+#joint_constraint_limits:
+#  arm_elbow_joint:
+#    ceneter_position: -0.675
+#    tolerance_above: 0.785
+#    tolerance_below: 1.05
+#  arm_shoulder_lift_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_shoulder_pan_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0
+#  arm_wrist_1_joint:
+#    ceneter_position: -3.14
+#    tolerance_above: 1.57
+#    tolerance_below: 3.14
+#  arm_wrist_2_joint:
+#    ceneter_position: -1.5
+#    tolerance_above: 0.7652
+#    tolerance_below: 1.15
+#  arm_wrist_3_joint:
+#    ceneter_position: 0
+#    tolerance_above: 0
+#    tolerance_below: 0