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Update iiwa_controller configuration for improved joint control and velocity clamping

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Даниил Грабарь
2026-05-18 03:34:59 +03:00
parent 86cf252a87
commit efaec9b442
5 changed files with 45 additions and 15 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+17 -10
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@@ -9,8 +9,8 @@
<xacro:arg name="command_mode" default="position"/>
<xacro:arg name="joint_position_tau" default="0.04"/>
<!-- iiwa_controller_v2: новые параметры. Убери эти строки при откате на v1 -->
<xacro:arg name="open_loop" default="true"/>
<xacro:arg name="rt_prio" default="80"/>
<!-- <xacro:arg name="open_loop" default="true"/>
<xacro:arg name="rt_prio" default="80"/> -->
<xacro:property name="initial_positions"
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -152,15 +152,15 @@
════════════════════════════════════════════════════════ -->
<!-- ── v2 (активен) ──────────────────────────────────────── -->
<plugin>iiwa_controller_v2/SystemInterface</plugin>
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="simulate">false</param>
<param name="command_mode">$(arg command_mode)</param>
<param name="joint_position_tau">$(arg joint_position_tau)</param>
<!-- <plugin>iiwa_controller_v2/SystemInterface</plugin> -->
<!-- <param name="robot_ip">$(arg robot_ip)</param> -->
<!-- <param name="fri_port">$(arg fri_port)</param> -->
<!-- <param name="simulate">false</param> -->
<!-- <param name="command_mode">$(arg command_mode)</param> -->
<!-- <param name="joint_position_tau">$(arg joint_position_tau)</param> -->
<!-- новые параметры v2: -->
<param name="open_loop">$(arg open_loop)</param>
<param name="rt_prio">$(arg rt_prio)</param>
<!-- <param name="open_loop">$(arg open_loop)</param> -->
<!-- <param name="rt_prio">$(arg rt_prio)</param> -->
<!-- ── v1 (закомментировано) ─────────────────────────────
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
@@ -170,6 +170,13 @@
<param name="command_mode">$(arg command_mode)</param>
<param name="joint_position_tau">$(arg joint_position_tau)</param>
─────────────────────────────────────────────────────────── -->
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="simulate">false</param>
<param name="command_mode">$(arg command_mode)</param>
<param name="joint_position_tau">$(arg joint_position_tau)</param>
</hardware>
<joint name="joint1">