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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.
This commit is contained in:
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_description/urdf/joints.xacro
+30 -23
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@@ -9,53 +9,60 @@
<child link="base_link"/>
</joint>
<!-- joint1 -->
<!-- joint1: ±170° hard, ±165° soft, k_velocity=10 -->
<xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500"
velocity="1.71" damping="0.5"/>
xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 1"
lower="-2.97" upper="2.97" effort="200"
velocity="1.71" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
<!-- joint2 -->
<!-- joint2: ±119° hard, ±114° soft -->
<xacro:revolute_joint jname="joint2" parent="link1" child="link2"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
lower="-2.09" upper="2.09" effort="500"
velocity="1.71" damping="0.5"/>
lower="-2.09" upper="2.09" effort="200"
velocity="1.71" damping="10.0" friction="0.1"
soft_lower="-2.0027" soft_upper="2.0027" k_velocity="10"/>
<!-- joint3 -->
<!-- joint3: ±170° hard, ±165° soft -->
<xacro:revolute_joint jname="joint3" parent="link2" child="link3"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500"
velocity="1.75" damping="0.5"/>
lower="-2.97" upper="2.97" effort="200"
velocity="1.75" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
<!-- joint4 -->
<!-- joint4: ±119° hard, ±114° soft -->
<xacro:revolute_joint jname="joint4" parent="link3" child="link4"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 -1"
lower="-2.09" upper="2.09" effort="500"
velocity="2.27" damping="0.5"/>
lower="-2.09" upper="2.09" effort="200"
velocity="2.27" damping="10.0" friction="0.1"
soft_lower="-2.0027" soft_upper="2.0027" k_velocity="10"/>
<!-- joint5 -->
<!-- joint5: ±170° hard, ±165° soft -->
<xacro:revolute_joint jname="joint5" parent="link4" child="link5"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
lower="-2.97" upper="2.97" effort="500"
velocity="2.44" damping="0.5"/>
lower="-2.97" upper="2.97" effort="200"
velocity="2.44" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
<!-- joint6 -->
<!-- joint6: ±119° hard, ±114° soft -->
<xacro:revolute_joint jname="joint6" parent="link5" child="link6"
xyz="0 0 0" rpy="-1.5708 0 0" axis="0 0 1"
lower="-2.09" upper="2.09" effort="500"
velocity="3.14" damping="0.5"/>
lower="-2.09" upper="2.09" effort="200"
velocity="3.14" damping="10.0" friction="0.1"
soft_lower="-2.0027" soft_upper="2.0027" k_velocity="10"/>
<!-- joint7 -->
<!-- joint7: ±174° hard, ±169° soft -->
<xacro:revolute_joint jname="joint7" parent="link6" child="link7"
xyz="0 -0.126 0" rpy="1.5708 0 0" axis="0 0 1"
lower="-3.05" upper="3.05" effort="500"
velocity="3.14" damping="0.5"/>
lower="-3.05" upper="3.05" effort="200"
velocity="3.14" damping="10.0" friction="0.1"
soft_lower="-2.9627" soft_upper="2.9627" k_velocity="10"/>
<joint name="tools_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
@@ -63,4 +70,4 @@
<child link="link_ee"/>
</joint>
</robot>
</robot>