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Can you run the examples? What happens when you do:

roslaunch pid servo_sim.launch

Look at the launch file for that ^. There are two nodes you can modify for your purposes. The other nodes you don't have to mess with. You can tune the "left_wheel_pid" node at run-time.

<node name="servo_sim_node" pkg="pid" type="plant_sim" output="screen" >
  <param name="plant_order" value="2" />
</node>

<node name="setpoint_node" pkg="pid" type="setpoint_node" output="screen" />

Can you run the examples? What happens when you do:

roslaunch pid servo_sim.launch

Look at the launch file for that ^. There are two nodes you can modify for your purposes. The other nodes you don't have to mess with. You can tune the "left_wheel_pid" node at run-time.run-time. These are the 2 nodes you should modify:

<node name="servo_sim_node" pkg="pid" type="plant_sim" output="screen" >
  <param name="plant_order" value="2" />
</node>

<node name="setpoint_node" pkg="pid" type="setpoint_node" output="screen" />

Can you run the examples? What happens when you do:

roslaunch pid servo_sim.launch

Look at the launch file for that ^. There are two nodes you can modify for your purposes. The other nodes you don't have to mess with. You can tune the "left_wheel_pid" node at run-time. These are the 2 nodes whose code you should modify:

<node name="servo_sim_node" pkg="pid" type="plant_sim" output="screen" >
  <param name="plant_order" value="2" />
</node>

<node name="setpoint_node" pkg="pid" type="setpoint_node" output="screen" />