Refactor iiwa_controller_v2: Remove obsolete files and update URDF parameters

- Deleted `system_interface_type_values.hpp`, `package.xml`, `fri_client.cpp`, and `system_interface.cpp` as part of the cleanup process.
- Updated `iiwa7.urdf.xacro` to remove deprecated parameters and adjust command interface settings.
- Modified joint definitions in `joints.xacro` to include new friction and soft limit parameters.
- Enhanced `macros.xacro` to support additional joint properties for friction and safety control.
- Adjusted mass properties in `params.xacro` to reflect accurate values for the robot's components.

src/iiwa_config/config/moveit/iiwa_controller.yaml

@@ -18,8 +18,10 @@ joint_state_broadcaster:
       - velocity
       - effort
       - external_torque
-      - commanded_torque
-      - ipo_joint_position
+      # commanded_torque и ipo_joint_position доступны только при активном v2
+      # при переключении на v2 — раскомментировать:
+      # - commanded_torque
+      # - ipo_joint_position
 
 iiwa_arm_controller:
   ros__parameters:

src/iiwa_config/config/setting.yaml

@@ -4,7 +4,7 @@ robot:
   port: 30200
   command_mode: "position" # torque, position
   fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
-  joint_position_tau: 0.15   # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
+  joint_position_tau: 0.04   # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
   active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro