61 lines
2.0 KiB
YAML
61 lines
2.0 KiB
YAML
controller_manager:
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ros__parameters:
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# `update_rate` задаётся FRI launch-файлом как 1000 / robot.fri_cycle_ms.
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# Не фиксировать его здесь: KLI Position всегда выдаёт 10 мс (100 Гц),
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# а KONI может работать с 5 мс (200 Гц).
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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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joint_state_broadcaster:
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ros__parameters:
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interfaces:
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- position
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- velocity
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- effort
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- external_torque
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# commanded_torque и ipo_joint_position доступны только при активном v2
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# при переключении на v2 — раскомментировать:
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# - commanded_torque
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# - ipo_joint_position
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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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interpolate_from_desired_state: true
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allow_partial_joints_goal: false
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allow_nonzero_velocity_at_trajectory_end: false
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state_publish_rate: 50.0 # половина от update_rate, как в референсе lbr_fri_ros2_stack
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action_monitor_rate: 20.0
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# constraints:
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# stopped_velocity_tolerance: 0.01 # [рад/с] — допуск скорости в конечной точке
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# goal_time: 2.0 # [с] — допуск на время достижения цели
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# joint1: { trajectory: 0.1, goal: 0.01 }
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# joint2: { trajectory: 0.1, goal: 0.01 }
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# joint3: { trajectory: 0.1, goal: 0.01 }
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# joint4: { trajectory: 0.1, goal: 0.01 }
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# joint5: { trajectory: 0.1, goal: 0.01 }
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# joint6: { trajectory: 0.1, goal: 0.01 }
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# joint7: { trajectory: 0.1, goal: 0.01 }
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