From c5d8ecc4c584d90f40df8249f663d6687bc626b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Mon, 18 May 2026 16:59:24 +1000 Subject: [PATCH] Bug fix --- .../config/moveit/iiwa_controller.yaml | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml index 1b34a4f..2a1e467 100644 --- a/src/iiwa_config/config/moveit/iiwa_controller.yaml +++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml @@ -48,16 +48,16 @@ iiwa_arm_controller: state_publish_rate: 50.0 # половина от update_rate, как в референсе lbr_fri_ros2_stack action_monitor_rate: 20.0 - constraints: - stopped_velocity_tolerance: 0.01 # [рад/с] — допуск скорости в конечной точке - goal_time: 2.0 # [с] — допуск на время достижения цели - joint1: { trajectory: 0.1, goal: 0.01 } - joint2: { trajectory: 0.1, goal: 0.01 } - joint3: { trajectory: 0.1, goal: 0.01 } - joint4: { trajectory: 0.1, goal: 0.01 } - joint5: { trajectory: 0.1, goal: 0.01 } - joint6: { trajectory: 0.1, goal: 0.01 } - joint7: { trajectory: 0.1, goal: 0.01 } + # constraints: + # stopped_velocity_tolerance: 0.01 # [рад/с] — допуск скорости в конечной точке + # goal_time: 2.0 # [с] — допуск на время достижения цели + # joint1: { trajectory: 0.1, goal: 0.01 } + # joint2: { trajectory: 0.1, goal: 0.01 } + # joint3: { trajectory: 0.1, goal: 0.01 } + # joint4: { trajectory: 0.1, goal: 0.01 } + # 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: