From 638ecab7915f9f0cf0ae3f7969947ab9f14e8127 Mon Sep 17 00:00:00 2001 From: shenchenyang <664376944@qq.com> Date: Wed, 25 Feb 2026 18:53:33 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E4=BC=A0=E6=84=9F=E5=99=A8?= =?UTF-8?q?=E6=BB=A4=E6=B3=A2=E5=80=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py | 2 +- .../openarm_joint_sensor/joint_sensor_can.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 addf22e..f431726 100644 --- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py +++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py @@ -66,7 +66,7 @@ class ProgressActionClient(Node): # 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('ema_alpha', 0.5) self.declare_parameter('kalman_q', 1e-5) self.declare_parameter('kalman_r', 1e-2) diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py index fc5bfac..ac3f62e 100644 --- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py +++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py @@ -63,7 +63,7 @@ class JointSensorNode(Node): js.position = angles self.publisher_.publish(js) - self.get_logger().info(f"Published JointState: ids=0x{msg.arbitration_id:X} names={names} positions={angles}") + self.get_logger().debug(f"Published JointState: ids=0x{msg.arbitration_id:X} names={names} positions={angles}") except Exception as e: self.get_logger().error(f"Error handling CAN msg: {e}")