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调整传感器滤波值

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shenchenyang 2026-02-25 18:53:33 +08:00
parent 26cf62214e
commit 638ecab791
2 changed files with 2 additions and 2 deletions
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2
src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
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@ -66,7 +66,7 @@ class ProgressActionClient(Node):
# Parameters for optional position filtering # Parameters for optional position filtering
self.declare_parameter('enable_filter', True) self.declare_parameter('enable_filter', True)
self.declare_parameter('filter_type', 'ema') 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_q', 1e-5)
self.declare_parameter('kalman_r', 1e-2) self.declare_parameter('kalman_r', 1e-2)

2
src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
View File

@ -63,7 +63,7 @@ class JointSensorNode(Node):
js.position = angles js.position = angles
self.publisher_.publish(js) 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: except Exception as e:
self.get_logger().error(f"Error handling CAN msg: {e}") self.get_logger().error(f"Error handling CAN msg: {e}")