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.
This commit is contained in:
Даниил Грабарь
@@ -8,9 +8,6 @@
|
||||
<xacro:arg name="fri_port" default="30200"/>
|
||||
<xacro:arg name="command_mode" default="position"/>
|
||||
<xacro:arg name="joint_position_tau" default="0.04"/>
|
||||
<!-- iiwa_controller_v2: новые параметры. Убери эти строки при откате на v1 -->
|
||||
<!-- <xacro:arg name="open_loop" default="true"/>
|
||||
<xacro:arg name="rt_prio" default="80"/> -->
|
||||
|
||||
<xacro:property name="initial_positions"
|
||||
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
|
||||
@@ -145,32 +142,6 @@
|
||||
|
||||
<ros2_control name="iiwaFRIControl" type="system">
|
||||
<hardware>
|
||||
<!-- ════════════════════════════════════════════════════════
|
||||
АКТИВНЫЙ ПЛАГИН: iiwa_controller_v2
|
||||
Чтобы вернуть v1 — раскомментируй блок v1 ниже
|
||||
и закомментируй блок v2.
|
||||
════════════════════════════════════════════════════════ -->
|
||||
|
||||
<!-- ── v2 (активен) ──────────────────────────────────────── -->
|
||||
<!-- <plugin>iiwa_controller_v2/SystemInterface</plugin> -->
|
||||
<!-- <param name="robot_ip">$(arg robot_ip)</param> -->
|
||||
<!-- <param name="fri_port">$(arg fri_port)</param> -->
|
||||
<!-- <param name="simulate">false</param> -->
|
||||
<!-- <param name="command_mode">$(arg command_mode)</param> -->
|
||||
<!-- <param name="joint_position_tau">$(arg joint_position_tau)</param> -->
|
||||
<!-- новые параметры v2: -->
|
||||
<!-- <param name="open_loop">$(arg open_loop)</param> -->
|
||||
<!-- <param name="rt_prio">$(arg rt_prio)</param> -->
|
||||
|
||||
<!-- ── v1 (закомментировано) ─────────────────────────────
|
||||
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
|
||||
<param name="robot_ip">$(arg robot_ip)</param>
|
||||
<param name="fri_port">$(arg fri_port)</param>
|
||||
<param name="simulate">false</param>
|
||||
<param name="command_mode">$(arg command_mode)</param>
|
||||
<param name="joint_position_tau">$(arg joint_position_tau)</param>
|
||||
─────────────────────────────────────────────────────────── -->
|
||||
|
||||
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
|
||||
<param name="robot_ip">$(arg robot_ip)</param>
|
||||
<param name="fri_port">$(arg fri_port)</param>
|
||||
@@ -185,8 +156,8 @@
|
||||
<param name="max"> 2.97</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint1']}</param>
|
||||
@@ -201,8 +172,8 @@
|
||||
<param name="max"> 2.09</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint2']}</param>
|
||||
@@ -217,8 +188,8 @@
|
||||
<param name="max"> 2.97</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint3']}</param>
|
||||
@@ -233,8 +204,8 @@
|
||||
<param name="max"> 2.09</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint4']}</param>
|
||||
@@ -249,8 +220,8 @@
|
||||
<param name="max"> 2.97</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint5']}</param>
|
||||
@@ -265,8 +236,8 @@
|
||||
<param name="max"> 2.09</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint6']}</param>
|
||||
@@ -281,8 +252,8 @@
|
||||
<param name="max"> 3.05</param>
|
||||
</command_interface>
|
||||
<command_interface name="effort">
|
||||
<param name="min">-320</param>
|
||||
<param name="max"> 320</param>
|
||||
<param name="min">-200</param>
|
||||
<param name="max"> 200</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['joint7']}</param>
|
||||
|
||||
Reference in New Issue
Block a user