grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

fix: align iiwa controller with FRI lifecycle and use JTC without EMA

Browse Source
This commit is contained in:
Даниил Грабарь
2026-09-15 14:10:10 +10:00
parent db2751bc78
commit b1fc2c5ff5
21 changed files with 978 additions and 418 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cobot-setting.yaml
-3
View File
@@ -3,9 +3,6 @@ robot:
ip: "192.170.10.2"
port: 30200
fri_cycle_ms: 10 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
joint_position_tau: 0.04 # EMA фильтр позиций [с]: сглаживает команды перед отправкой в FRI
joint_velocity_tau: 0.01 # EMA фильтр скорости [с]: убирает выбросы конечных разностей
active_controller: "jtc" # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro