From 6cc70efc6cc9fc1046cc7944660c2a092ab457e1 Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Wed, 3 Mar 2021 14:31:27 -0500
Subject: [PATCH] Diff Drive Joint

---
 stretch_moveit_config/config/stretch_description.srdf | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/stretch_moveit_config/config/stretch_description.srdf b/stretch_moveit_config/config/stretch_description.srdf
index 42de532..6bc5e08 100644
--- a/stretch_moveit_config/config/stretch_description.srdf
+++ b/stretch_moveit_config/config/stretch_description.srdf
@@ -53,7 +53,13 @@
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="gripper" parent_link="link_grasp_center" group="stretch_arm"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="position" type="planar" parent_frame="map" child_link="base_link"/>
+
+    <virtual_joint name="position" type="diff_drive" parent_frame="map" child_link="base_link">
+        <limit name="x"     vel="0.1" acc="1.0" />
+        <limit name="y"     vel="0.1" acc="1.0" />
+        <limit name="theta" vel="0.1" acc="1.0" />
+    </virtual_joint>
+
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="base_link" link2="camera_link" reason="Never"/>
     <disable_collisions link1="base_link" link2="laser" reason="Adjacent"/>