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Update Dockerfiles and configuration for improved package management and controller settings

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Даниил Грабарь
2026-05-19 12:48:12 +10:00
parent 24bc5f3aba
commit 836b03a7ee
6 changed files with 28 additions and 9 deletions
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src/iiwa_config/config/setting.yaml
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@@ -3,7 +3,7 @@ robot:
ip: "192.170.10.2"
port: 30200
command_mode: "position" # torque, position
fri_cycle_ms: 5 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
joint_position_tau: 0.04 # EMA фильтр позиций [с]: сглаживает команды перед отправкой в FRI
joint_velocity_tau: 0.01 # EMA фильтр скорости [с]: убирает выбросы конечных разностей
active_controller: "jtc" # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController