From 97e3a5f60c7c95acfac999e6eb9cf5103774ec13 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Wed, 16 Sep 2026 14:39:49 +1000 Subject: [PATCH] fix: keep Webots controller rate --- src/iiwa_bringup/launch/supported/webots_spawn.launch.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/iiwa_bringup/launch/supported/webots_spawn.launch.py b/src/iiwa_bringup/launch/supported/webots_spawn.launch.py index 3bbbab0..018ab88 100644 --- a/src/iiwa_bringup/launch/supported/webots_spawn.launch.py +++ b/src/iiwa_bringup/launch/supported/webots_spawn.launch.py @@ -39,6 +39,13 @@ def _spawn_setup(context, *args, **kwargs): with open(controller, "r") as f: controller_cfg = yaml.safe_load(f) or {} + # FRI sets the hardware cycle dynamically in controllers.launch.py. Webots + # has no FRI period, so preserve its established 200 Hz controller cycle. + manager_params = controller_cfg.setdefault("controller_manager", {}).setdefault( + "ros__parameters", {} + ) + manager_params["update_rate"] = 200 + combined = { "/**": {"ros__parameters": { "robot_description": robot_description,