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

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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/setting.yaml
+2 -1
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@@ -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