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

2026-09-15 14:10:10 +10:00
parent db2751bc78
commit b1fc2c5ff5
21 changed files with 978 additions and 418 deletions
@@ -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