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I have written a fairly generic PID server that you can get from here. For a joint you could start a few PID servers - one for position/angle/velocity. The nice thing to do is use rxplot to visualize your desired vs. actual joint angle, use dynamic reconfigure to modify your PID gains during runtime, and tune those gains based on how well the PID loop is performing.
| | 2 | No.2 Revision |
I have written a fairly generic PID server that you can get from here. For a joint you could start a few PID servers - one for position/angle/velocity. The nice thing to do is use rxplot to visualize your desired vs. actual joint angle, use dynamic reconfigure to modify your PID gains during runtime, and tune those gains based on how well the PID loop is performing.
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