Joint limits (vel, effort) are checked even when the joint is continuous type.

[Groebehavn]

According to URDF specification, limits only apply for revolute and prismatic joints as required fields, but not for continuous, where they are optional. The type in joint.cpp is not checked, so when a velocity limit is present for continuous joints, the validator wrongly returns an error due to the lack of effort limit for example. Could someone take a look on this please? :)
Reference here.