Update iiwa_controller and MoveIt configuration: Adjust joint velocity filter and parameters for improved performance

src/iiwa_config/config/moveit/iiwa_controller.yaml

@@ -45,19 +45,19 @@ iiwa_arm_controller:
     allow_partial_joints_goal: false
     allow_nonzero_velocity_at_trajectory_end: false
 
-    state_publish_rate: 100.0
+    state_publish_rate: 50.0   # половина от update_rate, как в референсе lbr_fri_ros2_stack
     action_monitor_rate: 20.0
 
-    # constraints:
-    #   stopped_velocity_tolerance: 0.01
-    #   goal_time: 1.0
-    #   joint1: { trajectory: 0, goal: 0.01 }
-    #   joint2: { trajectory: 0, goal: 0.01 }
-    #   joint3: { trajectory: 0, goal: 0.01 }
-    #   joint4: { trajectory: 0, goal: 0.01 }
-    #   joint5: { trajectory: 0, goal: 0.01 }
-    #   joint6: { trajectory: 0, goal: 0.01 }
-    #   joint7: { trajectory: 0, goal: 0.01 }
+    constraints:
+      stopped_velocity_tolerance: 0.01  # [рад/с] — допуск скорости в конечной точке
+      goal_time: 2.0                    # [с] — допуск на время достижения цели
+      joint1: { trajectory: 0.1, goal: 0.01 }
+      joint2: { trajectory: 0.1, goal: 0.01 }
+      joint3: { trajectory: 0.1, goal: 0.01 }
+      joint4: { trajectory: 0.1, goal: 0.01 }
+      joint5: { trajectory: 0.1, goal: 0.01 }
+      joint6: { trajectory: 0.1, goal: 0.01 }
+      joint7: { trajectory: 0.1, goal: 0.01 }
 
 forward_position_controller:
   ros__parameters:

src/iiwa_config/config/moveit/moveit_cpp.yaml

@@ -16,14 +16,14 @@ plan_request_params:
   max_velocity_scaling_factor: 0.5
   max_acceleration_scaling_factor: 1.0
 
-ompl_rrtc:  # Namespace for individual plan request
-  plan_request_params:  # PlanRequestParameters similar to the ones that are used by the single pipeline planning of moveit_cpp
-    planning_attempts: 1  # Number of attempts the planning pipeline tries to solve a given motion planning problem
-    planning_pipeline: ompl  # Name of the pipeline that is being used
-    planner_id: "RRTConnectkConfigDefault"  # Name of the specific planner to be used by the pipeline
-    max_velocity_scaling_factor: 1.0  # Velocity scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
-    max_acceleration_scaling_factor: 1.0  # Acceleration scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
-    planning_time: 1.0  # Time budget for the motion plan request. If the planning problem cannot be solved within this time, an empty solution with error code is returned
+ompl_rrtc:
+  plan_request_params:
+    planning_attempts: 1
+    planning_pipeline: ompl
+    planner_id: "RRTConnectkConfigDefault"
+    max_velocity_scaling_factor: 1.0
+    max_acceleration_scaling_factor: 1.0
+    planning_time: 1.0
 
 pilz_ptp:
   plan_request_params:
@@ -49,4 +49,4 @@ chomp_planner:
     planning_pipeline: chomp
     max_velocity_scaling_factor: 1.0
     max_acceleration_scaling_factor: 1.0
-    planning_time: 1.5
+    planning_time: 1.5

src/iiwa_config/config/setting.yaml

@@ -4,7 +4,8 @@ robot:
   port: 30200
   command_mode: "position" # torque, position
   fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
-  joint_position_tau: 0.04   # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
+  joint_position_tau: 0.04   # EMA фильтр позиций [с]: сглаживает команды перед отправкой в FRI
+  joint_velocity_tau: 0.01   # EMA фильтр скорости [с]: убирает выбросы конечных разностей
   active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro