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No p gain specififed even when specified in control.yaml

asked 2019-05-19 21:55:53 -0500

Withered_Shadow gravatar image

updated 2019-05-20 02:39:59 -0500


I recently installed Ros and Gazebo on a new system. When launching I keep getting the error

[ERROR] [1558337209.098208864]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/imu_joint1
[ERROR] [1558337209.100105299]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/imu_joint2
[ERROR] [1558337209.101583263]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/imu_joint3

even though I have specified the PID values in a .yaml file. Im not sure if related but while closing I also get the error

Controller Spawner error while taking down controllers: transport error completing service call: receive_once[/controller_manager/switch_controller]: unexpected error


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does #q293830 help?

It seems odd to me that the error message is actually putting <joint_name> in there...

Please share your control.yaml for further support.

(I don't think the spawner error is related...)

mgruhler gravatar image mgruhler  ( 2019-05-20 02:16:25 -0500 )edit

Here I have attached the control.yaml

link text

  type: joint_state_controller/JointStateController
  publish_rate: 50

  type: velocity_controllers/JointVelocityController
  joint: imu_joint1
  pid: {p: 3.0, i: 1.0, d: 1.0}

  type: velocity_controllers/JointVelocityController
  joint: imu_joint2
  pid: {p: 5.0, i: 1.5, d: 1.25}

  type: velocity_controllers/JointVelocityController
  joint: imu_joint3
  pid: {p: 1.2, i: 0.4, d: 0}
Withered_Shadow gravatar image Withered_Shadow  ( 2019-05-20 02:30:09 -0500 )edit

SUMMARY ========

 * /imu_joint1_controller/joint: imu_joint1
 * /imu_joint1_controller/pid/d: 1.0
 * /imu_joint1_controller/pid/i: 1.0
 * /imu_joint1_controller/pid/p: 3.0
 * /imu_joint1_controller/type: velocity_controll...
 * /imu_joint2_controller/joint: imu_joint2
 * /imu_joint2_controller/pid/d: 1.25
 * /imu_joint2_controller/pid/i: 1.5
 * /imu_joint2_controller/pid/p: 5.0
 * /imu_joint2_controller/type: velocity_controll...
 * /imu_joint3_controller/joint: imu_joint3
 * /imu_joint3_controller/pid/d: 0
 * /imu_joint3_controller/pid/i: 0.4
 * /imu_joint3_controller/pid/p: 1.2
 * /imu_joint3_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: False
Withered_Shadow gravatar image Withered_Shadow  ( 2019-05-20 02:35:33 -0500 )edit

1 Answer

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answered 2019-05-20 02:57:44 -0500

mgruhler gravatar image

You haven't specified the pid parameters correctly.

The correct format is described in this answer to the question linked in the comment above.

Also note that, as discussed in the (now) accepted answer is that this is actually not an error but a notification that you are not using a pid controller but rather the gazebo default.

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Thanks for the help. Got it working

Withered_Shadow gravatar image Withered_Shadow  ( 2019-05-20 03:23:45 -0500 )edit

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Asked: 2019-05-19 21:55:53 -0500

Seen: 910 times

Last updated: May 20 '19