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

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This commit is contained in:
Даниил Грабарь
2026-05-18 11:33:35 +10:00
parent ace4d02b8a
commit 04b5c99ec8
6 changed files with 54 additions and 32 deletions
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src/iiwa_config/config/moveit/iiwa_controller.yaml
+11 -11
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@@ -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: