From 26cf62214e5d83f1a379c00b1c19ce661aef9b54 Mon Sep 17 00:00:00 2001
From: shenchenyang <664376944@qq.com>
Date: Wed, 25 Feb 2026 15:46:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BC=A0=E6=84=9F=E5=99=A8?=
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---
 .../openarm_joint_sensor/joint_control.py     | 92 ++++++++++++++++++-
 1 file changed, 91 insertions(+), 1 deletion(-)

diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
index b71f94c..addf22e 100644
--- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
+++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
@@ -9,12 +9,81 @@ from sensor_msgs.msg import JointState
 
 count = 0
 count1 = 0
+class PositionFilter:
+    """Simple per-joint filter supporting EMA and a basic 1D Kalman.
+
+    Usage:
+        f = PositionFilter(filter_type='ema', alpha=0.2)
+        out = f.update(measurement)
+    """
+    def __init__(self, filter_type='ema', alpha=0.2, q=1e-5, r=1e-2):
+        self.filter_type = filter_type
+        self.alpha = float(alpha)
+        # Kalman params
+        self.q = float(q)  # process noise
+        self.r = float(r)  # measurement noise
+        self.x = None  # state estimate
+        self.p = 1.0   # estimate covariance
+
+    def reset(self):
+        self.x = None
+        self.p = 1.0
+
+    def update(self, z):
+        # z: measurement (float)
+        if z is None:
+            return self.x
+
+        if self.filter_type == 'ema':
+            if self.x is None:
+                self.x = float(z)
+            else:
+                self.x = self.alpha * float(z) + (1.0 - self.alpha) * self.x
+            return self.x
+
+        if self.filter_type == 'kalman':
+            # Predict
+            if self.x is None:
+                self.x = float(z)
+                self.p = 1.0
+                return self.x
+            self.p = self.p + self.q
+            # Update
+            k = self.p / (self.p + self.r)
+            self.x = self.x + k * (float(z) - self.x)
+            self.p = (1 - k) * self.p
+            return self.x
+
+        # default: passthrough
+        return float(z)
+
 class ProgressActionClient(Node):
     
     
     def __init__(self):
         super().__init__('progress_action_client')
 
+        # Parameters for optional position filtering
+        self.declare_parameter('enable_filter', True)
+        self.declare_parameter('filter_type', 'ema')
+        self.declare_parameter('ema_alpha', 0.2)
+        self.declare_parameter('kalman_q', 1e-5)
+        self.declare_parameter('kalman_r', 1e-2)
+
+        self.enable_filter = self.get_parameter('enable_filter').get_parameter_value().bool_value
+        self.filter_type = self.get_parameter('filter_type').get_parameter_value().string_value
+        self.ema_alpha = self.get_parameter('ema_alpha').get_parameter_value().double_value
+        self.kalman_q = self.get_parameter('kalman_q').get_parameter_value().double_value
+        self.kalman_r = self.get_parameter('kalman_r').get_parameter_value().double_value
+
+        # Create per-joint filters (7 joints expected)
+        self.num_joints = 7
+        self.filters = [PositionFilter(filter_type=self.filter_type,
+                                       alpha=self.ema_alpha,
+                                       q=self.kalman_q,
+                                       r=self.kalman_r)
+                        for _ in range(self.num_joints)]
+
         self.subscriber_ = self.create_subscription(
             JointState, 
             "/joint_sensor_states", 
@@ -38,7 +107,28 @@ class ProgressActionClient(Node):
 
         # self.send_goal([count, count1, 0.0, 0.0, 0.0, 0.0, 0.0])
         self.get_logger().info(f'Received joint states: {list(msg.name)} positions: {list(msg.position)}')
-        self.send_goal(msg.position)
+        # Apply position filtering if enabled
+        arm_pos = list(msg.position)
+        if self.enable_filter:
+            if len(arm_pos) >= self.num_joints:
+                filtered = []
+                for i in range(self.num_joints):
+                    try:
+                        v = float(arm_pos[i])
+                    except Exception:
+                        v = None
+                    fv = self.filters[i].update(v)
+                    # If filter returned None (no prior), fall back to raw
+                    filtered.append(fv if fv is not None else (arm_pos[i] if i < len(arm_pos) else 0.0))
+                arm_pos_to_send = filtered
+            else:
+                # unexpected length: skip filtering and log
+                self.get_logger().warning(f'Expected {self.num_joints} positions, got {len(arm_pos)}. Sending raw positions.')
+                arm_pos_to_send = arm_pos
+        else:
+            arm_pos_to_send = arm_pos
+
+        self.send_goal(arm_pos_to_send)
 
     def send_goal(self, arm_pos):
         arm_joint = ['openarm_right_joint1', 'openarm_right_joint2', 'openarm_right_joint3', 'openarm_right_joint4', 'openarm_right_joint5', 'openarm_right_joint6', 'openarm_right_joint7']