Исправлены баги

2026-05-06 07:39:22 +03:00
parent 9f30b9ff5d
commit 3c8d157cbe
2 changed files with 4 additions and 1 deletions
@@ -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(
@@ -1,6 +1,6 @@
 controller_manager:
  ros__parameters:
-    update_rate: 100
+    update_rate: 200

    joint_state_broadcaster:
      type: "joint_state_broadcaster/JointStateBroadcaster"