Refactor controller configuration and update planning parameters for improved performance

2026-05-14 07:29:47 +03:00
parent c3d1de7b01
commit 7eefdd66d5
8 changed files with 51 additions and 61 deletions
@@ -52,7 +52,6 @@ target_link_libraries(fri_client_sdk PUBLIC pthread)
 add_library(${PROJECT_NAME} SHARED
  src/FRIClient.cpp
  src/IIWAHardwareInterface.cpp
-  src/IIWAJointPositionController.cpp
 )

 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -76,11 +75,6 @@ pluginlib_export_plugin_description_file(
  iiwa_hardware_interface_plugin.xml
 )

-pluginlib_export_plugin_description_file(
-  controller_interface
-  iiwa_controller_plugin.xml
-)
-
 # Установка — только библиотека и заголовки, без config/launch/urdf
 install(TARGETS ${PROJECT_NAME}
  EXPORT export_${PROJECT_NAME}