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feat: Enhance iiwa_description and iiwa_sunrise functionality

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- Added a new link "tcp" and a fixed joint "patron_tcp" in patron.xacro for better tool control.
- Updated ServerFriRos2.java to improve command mode handling and user configuration steps, including clearer logging and better control mode selection.
- Removed the deprecated iiwa_ros2.java file to streamline the codebase.
- Enhanced test_motion_sequence.py to allow dynamic topic recording based on user input, with improved logging for bag file management.
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Даниил Грабарь
2026-05-07 17:47:47 +03:00
parent 3c8d157cbe
commit 225ae50f10
7 changed files with 320 additions and 439 deletions
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src/iiwa_config/config/setting.yaml
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@@ -34,7 +34,7 @@ controller:
planning:
pose_link: "link_ee" # TCP-линк для декартовых целей
pose_link: "tcp" # TCP-линк для декартовых целей
planning_group: "iiwa_arm" # Группа планирования из SRDF
default_frame: "base_link" # Система отсчёта по умолчанию
default_planner: "ompl" # Планировщик по умолчанию