Add joint_position_tau parameter for smoother joint control and update related configurations

2026-05-14 11:40:04 +10:00
parent 302eb3d8d7
commit c3d1de7b01
12 changed files with 74 additions and 11 deletions
@@ -11,6 +11,9 @@ controller_manager:
    iiwa_arm_torque_controller:
      type: "forward_command_controller/ForwardCommandController"

+    iiwa_joint_position_controller:
+      type: "iiwa_controller/IIWAJointPositionController"
+
 iiwa_arm_controller:
  ros__parameters:
    joints:
@@ -56,6 +59,17 @@ iiwa_arm_controller:
    #   joint6: { trajectory: 0, goal: 0.01 }
    #   joint7: { trajectory: 0, goal: 0.01 }

+iiwa_joint_position_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+      - joint7
+
 # Torque контроллер - прямое управление моментом
 # Активировать только при command_mode:=torque в launch файле
 iiwa_arm_torque_controller: