Update setting

cobot-setting.yaml

@@ -1,6 +1,6 @@
 robot:
   name: "iiwa7"
-  ip: "192.170.10.2"
+  ip: "192.168.21.147"
   port: 30200
   fri_cycle_ms: 10          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro

src/iiwa_config/config/setting.yaml

@@ -1,6 +1,6 @@
 robot:
   name: "iiwa7"
-  ip: "192.170.10.2"
+  ip: "192.168.21.147"
   port: 30200
   fri_cycle_ms: 10          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro

src/iiwa_controller/src/FRIClient.cpp

@@ -56,7 +56,10 @@ void FRIClient::captureData(bool commanding)
   if (expected_sample_time_ > 0.0 &&
     std::abs(current_.sample_time - expected_sample_time_) > 1e-9)
   {
-    throw std::runtime_error("Sunrise FRI period differs from robot.fri_cycle_ms");
+    throw std::runtime_error(
+            "Sunrise FRI period is " + std::to_string(current_.sample_time * 1000.0) +
+            " ms, but robot.fri_cycle_ms is " +
+            std::to_string(expected_sample_time_ * 1000.0) + " ms");
   }
   if (current_.valid && current_.session == COMMANDING_ACTIVE) {
     const double elapsed = static_cast<double>(sec - current_.time_stamp_sec) +