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Hello
I am looking for a gazebo ros plugin to simulate pid position control. I found a GazeboRosForce but nothing to rotate or move a joint to a certain position.
Any ideas?
Greetings Max
This is how I've always seen it done. You could write a Gazebo plugin, but you could also run a node like this instead, without having to write any new code at all. Running this controller outside of Gazebo will basically subscribe to the joint's positions and then issue corrective commands to force the joint to follow the PID. Whether it's running in a separate node or as a plugin to Gazebo, it's really all the same in terms of functionality.
Max,
Do you require it being a gazebo plugin?. If you can settle for a controller implementing the pr2_controller_interface, the JointPositionController class implements a single-joint PID position controller. Also, some time ago I extended the JointPositionController to a group of joints for convenience reasons (code, not tested extensively). A word of caution: In these implementations updating the reference signal is non-realtime (plain ROS topic).
Asked: 2011-12-12 08:44:14 -0600
Seen: 1,531 times
Last updated: Dec 13 '11
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