Переделан контроллер

2026-05-08 08:49:10 +03:00
parent 2dfe967ca1
commit 6744f1963f
6 changed files with 418 additions and 541 deletions
@@ -1,6 +1,6 @@
 controller_manager:
  ros__parameters:
-    update_rate: 200
+    update_rate: 200  # должен совпадать с FRI-циклом (10мс = 100Гц)

    joint_state_broadcaster:
      type: "joint_state_broadcaster/JointStateBroadcaster"