Переделан контроллер

2026-05-08 08:49:10 +03:00
parent 2dfe967ca1
commit 6744f1963f
6 changed files with 418 additions and 541 deletions
@@ -120,17 +120,10 @@ def _setup_controllers(context, *args, **kwargs):
            arguments=torque_args,
        )

-        state_broadcaster = Node(
-            package="controller_manager",
-            executable="spawner",
-            output="screen",
-            arguments=["iiwa_state_broadcaster", "--controller-manager", "/controller_manager"],
-        )
-
        jtc_after_jsb = RegisterEventHandler(
            OnProcessExit(
                target_action=jsb,
-                on_exit=[jtc, torque_controller, state_broadcaster],
+                on_exit=[jtc, torque_controller],
            )
        )