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

src/iiwa_config/config/moveit/iiwa_controller.yaml

@@ -8,8 +8,6 @@ controller_manager:
     iiwa_arm_controller:
       type: "joint_trajectory_controller/JointTrajectoryController"
 
-    forward_position_controller:
-      type: "forward_command_controller/ForwardCommandController"
 
 joint_state_broadcaster:
   ros__parameters:
@@ -58,15 +56,3 @@ iiwa_arm_controller:
     #   joint5: { trajectory: 0.1, goal: 0.01 }
     #   joint6: { trajectory: 0.1, goal: 0.01 }
     #   joint7: { trajectory: 0.1, goal: 0.01 }
-
-forward_position_controller:
-  ros__parameters:
-    joints:
-      - joint1
-      - joint2
-      - joint3
-      - joint4
-      - joint5
-      - joint6
-      - joint7
-    interface_name: position

src/iiwa_config/config/setting.yaml

@@ -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