`kIiwaLcmStatusPeriod` must be configurable

[nepfaff]

What happened?

kIiwaLcmStatusPeriod is currently a constant and is used by BuildIiwaControl, regardless of the iiwa control mode. However, the driver specifies different periods for different control modes. In particular, DrakeFRITorqueOnlyDriver uses a period of 0.001 and all other drivers use a period of 0.005. See here.

We should either select the period based on the control_mode or add it as an attribute to IiwaDriver. I'm leaning towards the later as it would make it easier for users to make low-level driver changes.

Version

d899c03

What operating system are you using?

No response

What installation option are you using?

No response

Relevant log output

No response

[sherm1]

@sammy-tri please reassign if you're not the right person to look at this

[sammy-tri]

I think adding a new field to IiwaDriver (status_period? control_period?) seems fine to me (and threading it through BuildIiwaControl and down into SimIiwaDriver seems like a reasonable plan to make this configurable. I'm not sure I'll personally have time to do it in the near future though I would be willing to be feature reviewer on a PR.