Add fri_cycle_ms parameter to configuration and update related components

2026-05-13 04:31:19 +03:00
parent 68198ed2f8
commit 1f37a07770
10 changed files with 155 additions and 129 deletions
@@ -3,6 +3,7 @@ robot:
  ip: "192.170.10.2"
  port: 30200
  command_mode: "position" # torque, position
+  fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
  description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro