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Are your cmd_vel messages controlling the speed of the motors? If so, use Kp and maybe very little Ki, here are some links:

http://upgrayd.blogspot.com/p/pid-velocity-motor-controller.html

This thread might help explain it, look at the part by Mr. Lim:

http://www.chiefdelphi.com/forums/showthread.php?t=62888

Are your cmd_vel messages controlling the speed of the motors? If so, use Kp and maybe very little Ki, here are some links:

http://upgrayd.blogspot.com/p/pid-velocity-motor-controller.html

This thread might help explain it, look at the part by Mr. Lim:

http://www.chiefdelphi.com/forums/showthread.php?t=62888

As far as tuning the PID's, I would go with any open loop method.