From 3c8d157cbe1f781845503aec8b1f494cb21df3cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Wed, 6 May 2026 07:39:22 +0300 Subject: [PATCH] =?UTF-8?q?=D0=98=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB?= =?UTF-8?q?=D0=B5=D0=BD=D1=8B=20=D0=B1=D0=B0=D0=B3=D0=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/iiwa_bringup/launch/iiwa.launch.py | 3 +++ src/iiwa_config/config/moveit/iiwa_controller.yaml | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/iiwa_bringup/launch/iiwa.launch.py b/src/iiwa_bringup/launch/iiwa.launch.py index 5848679..c6fd669 100644 --- a/src/iiwa_bringup/launch/iiwa.launch.py +++ b/src/iiwa_bringup/launch/iiwa.launch.py @@ -164,8 +164,11 @@ def _runtime_setup(context, *args, **kwargs): "description": description_path, "initial_positions_file": settings.controller.moveit.initial_positions, "controller_path": settings.controller.controller_path, + "transform": str(settings.digital_twin.webots.transform), + "rotation": str(settings.digital_twin.webots.rotation), "simulate": "false", "command_mode": settings.robot.command_mode, + "controller_timer": str(settings.digital_twin.webots.controller_timer), } controllers_launch = IncludeLaunchDescription( diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml index a3c508f..f7f80f4 100644 --- a/src/iiwa_config/config/moveit/iiwa_controller.yaml +++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 100 + update_rate: 200 joint_state_broadcaster: type: "joint_state_broadcaster/JointStateBroadcaster"