do not check position/limit error when lower limit and upper limit is same

[k-okada]

some robot has joint which upper limit and lower limit has same value, for example
https://raw.githubusercontent.com/start-jsk/rtmros_hironx/hydro-devel/hironx_ros_bridge/models/kawada-hironx.dae

                <joint name="WAIST_JOINT" sid="jointsid0">
                    <revolute sid="axis0">
                        <axis>0 0 1</axis>
                        <limits>
                            <min>0</min>
                            <max>0</max>
                        </limits>
                    </revolute>
                </joint>

and this outputs

position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON
position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON
position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON
position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON
position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
[ INFO] [1437357214.104381921, 31.414999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz] (exec 1776 Hz, dropped 202)
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON
position limit over (0), qRef=-8.75e-07, llimit =0, ulimit =0, servo_state = ON, prev_angle = 0
velocity limit over (0), qvel=0, lvlimit =0.000175, uvlimit =-0.000175, servo_state = ON

https://travis-ci.org/start-jsk/rtmros_common/jobs/71699630

This PR skips limit check if ulimit and ulimit are same (actually if ulimit < llimit)

[k-okada]

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2186/
Test PASSed.

[snozawa]

Is this dummy joint?

[k-okada]

I think this is originally base 6dof of wrl file and wrongly interpreted by
an old converter

2015年7月20日月曜日、Shunichi [email protected]さんは書きました:

Is this dummy joint?

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#726 (comment)
.

◉ Kei Okada

[snozawa]

I see, thanks.

[snozawa]

こちらですが、
uvlimit < uvlimit
でなくて
lvlimit < uvlimit
ですね。
現状のものだとリミットがかかってない状態になりました。