Update iiwa_controller configuration for improved joint control and velocity clamping

2026-05-18 03:34:59 +03:00
parent 86cf252a87
commit efaec9b442
5 changed files with 45 additions and 15 deletions
@@ -39,7 +39,7 @@ iiwa_arm_controller:
      - position
      - velocity

-    interpolate_from_desired_state: false
+    interpolate_from_desired_state: true
    allow_partial_joints_goal: false
    allow_nonzero_velocity_at_trajectory_end: false

@@ -4,7 +4,7 @@ robot:
  port: 30200
  command_mode: "position" # torque, position
  fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
-  joint_position_tau: 0.04  # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
+  joint_position_tau: 0.15   # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
  active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
  description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro