Даниил Грабарь
58f246e1f2
- Created iiwa7_gazebo.urdf to define the iiwa7 robot model with detailed links, joints, and Gazebo integration. - Introduced patron.xacro for the tool patron, including its inertial properties, visual representation, and collision geometry.
71 lines
2.3 KiB
YAML
71 lines
2.3 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 100
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joint_state_broadcaster:
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type: "joint_state_broadcaster/JointStateBroadcaster"
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iiwa_arm_controller:
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type: "joint_trajectory_controller/JointTrajectoryController"
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forward_torque_controller:
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type: "forward_command_controller/ForwardCommandController"
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# Основной контроллер - плавное движение по траектории
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iiwa_arm_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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- joint7
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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# Интерполяция между точками траектории
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interpolate_from_desired_state: true
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# Разрешить неполные goals
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allow_partial_joints_goal: false
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# Разрешить ненулевую скорость в конечной точке траектории
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# true = плавные составные движения
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# false = полная остановка в каждой точке (безопаснее)
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allow_nonzero_velocity_at_trajectory_end: true
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state_publish_rate: 100.0 # Гц публикации /joint_states
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action_monitor_rate: 20.0 # Гц мониторинга action goal
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# Допуски — насколько точно робот должен попасть в цель
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# constraints:
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# stopped_velocity_tolerance: 0.01 # рад/с — считаем остановившимся
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# goal_time: 1.0 # сек — доп. время на достижение цели
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# joint1: { trajectory: 0, goal: 0.01 }
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# joint2: { trajectory: 0, goal: 0.01 }
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# joint3: { trajectory: 0, goal: 0.01 }
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# joint4: { trajectory: 0, goal: 0.01 }
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# joint5: { trajectory: 0, goal: 0.01 }
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# joint6: { trajectory: 0, goal: 0.01 }
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# joint7: { trajectory: 0, goal: 0.01 }
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# Torque контроллер - прямое управление моментом
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# Активировать только при command_mode:=torque в launch файле
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forward_torque_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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- joint7
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interface_name: effort |