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fix: Update FRI cycle time and adjust related parameters for improved synchronization

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Даниил Грабарь
2026-05-13 07:39:18 +03:00
parent 1f37a07770
commit 302eb3d8d7
6 changed files with 20 additions and 50 deletions
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src/iiwa_config/config/setting.yaml
+1 -1
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@@ -3,7 +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)
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro