grabardm/lightweight-cobot
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Исправлены баги

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Даниил Грабарь
2026-05-06 07:39:22 +03:00
parent 9f30b9ff5d
commit 3c8d157cbe
2 changed files with 4 additions and 1 deletions
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src/iiwa_bringup/launch/iiwa.launch.py
+3
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@@ -164,8 +164,11 @@ def _runtime_setup(context, *args, **kwargs):
"description": description_path, "description": description_path,
"initial_positions_file": settings.controller.moveit.initial_positions, "initial_positions_file": settings.controller.moveit.initial_positions,
"controller_path": settings.controller.controller_path, "controller_path": settings.controller.controller_path,
"transform": str(settings.digital_twin.webots.transform),
"rotation": str(settings.digital_twin.webots.rotation),
"simulate": "false", "simulate": "false",
"command_mode": settings.robot.command_mode, "command_mode": settings.robot.command_mode,
"controller_timer": str(settings.digital_twin.webots.controller_timer),
} }
controllers_launch = IncludeLaunchDescription( controllers_launch = IncludeLaunchDescription(
src/iiwa_config/config/moveit/iiwa_controller.yaml
+1 -1
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@@ -1,6 +1,6 @@
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 100 update_rate: 200
joint_state_broadcaster: joint_state_broadcaster:
type: "joint_state_broadcaster/JointStateBroadcaster" type: "joint_state_broadcaster/JointStateBroadcaster"