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Refactor iiwa_controller_v2: Remove obsolete files and update URDF parameters

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- 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.
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Даниил Грабарь
2026-05-18 11:10:11 +10:00
parent efaec9b442
commit ace4d02b8a
18 changed files with 240 additions and 1295 deletions
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src/iiwa_config/config/setting.yaml
+1 -1
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@@ -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