osrf-migration

**Original comment by David Conner (Bitbucket: [CNURobotics](https://bitbucket.org/%7B7f54d962-79b6-44fd-9da3-b6bd6c440e69%7D/)).** ---------------------------------------- For further background, see discussions on: http://answers.gazebosim.org/question/12687/problems-while-parsing-gazebo-urdf-elements-with-gazebo7-and-ros-jade/ http://answers.gazebosim.org/question/15095/gazebo-contact-sensor-added-to-a-robot-link-in-urdf-file-is-not-working-as-expected/

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- These default to +-1e16: * https://github.com/osrf/sdformat/blob/eb3f05c39eddf725297b2328b320e21e18f01417/sdf/1.6/joint.sdf#L83 inf would be better

**Original comment by Michael Grey (Bitbucket: [mxgrey](https://bitbucket.org/%7Bc1cdfe52-2887-474c-ae99-72fdc53a59c9%7D/), GitHub: [mxgrey](https://github.com/mxgrey)).** ---------------------------------------- We could probably change `effort` and `velocity` to use `inf` as well.

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- If we aren't adding asymmetric limits on effort on velocity, then I assume we will keep `-1` as equivalent...

**Original comment by Michael Grey (Bitbucket: [mxgrey](https://bitbucket.org/%7Bc1cdfe52-2887-474c-ae99-72fdc53a59c9%7D/), GitHub: [mxgrey](https://github.com/mxgrey)).** ---------------------------------------- Yeah, we could continue to allow `-1` to mean `inf` for `effort` and `velocity` values. I think if/when we want...

**Original comment by Parker Lusk (Bitbucket: [plusk01](https://bitbucket.org/%7B54982703-ae0b-4b7e-8699-b1d2e4ae2523%7D/)).** ---------------------------------------- It turns out that my `visual` tag in my URDF (`model.urdf`) had a `name` attribute that throws off the parser. Maybe this...

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- For reference, the changes from [pr #329](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/329) have been pulled into this repo as 9b5a4bc6a56f8de95b4d8981dec0ef8bde1df045.

**Original comment by Louise Poubel (Bitbucket: [chapulina](https://bitbucket.org/%7B5cfa2075-477b-4ded-bdb9-8d2479544ec4%7D/), GitHub: [chapulina](https://github.com/chapulina)).** ---------------------------------------- * Edited issue description

**Original comment by Silvio Traversaro (Bitbucket: [traversaro](https://bitbucket.org/%7B34f404cb-5642-4f27-a032-e04c7143d776%7D/)).** ---------------------------------------- To be honest, I think the ideal solution to the issue would be if both URDF and SDF could explicitly represent "purely...

**Original comment by Louise Poubel (Bitbucket: [chapulina](https://bitbucket.org/%7B5cfa2075-477b-4ded-bdb9-8d2479544ec4%7D/), GitHub: [chapulina](https://github.com/chapulina)).** ---------------------------------------- Thanks for all the context, I suspected there was a good reason for the current behaviour. Agreed that being explicit...