GroupControllers PID values

asked 2021-01-05 14:09:39 -0500

Ben_W gravatar image

Hi, I am still new to this and normally some googling can solve that but I cannot seem to find the answer anywhere!

I have a basic arm, just segments with revolute joints. I am currently trying to use an effort_controller/JointGroupPositionController so that I can push all the joint values at once from my script. My understanding is that this takes in position values and outputs efforts for the joints to try and reach the positions.

I cannot get this to start up with my yaml file. It needs PID values but no matter how I try to lay out the file with PID values, I always get an error and cant find any examples on how they should be layed out for group controllers.

The file looks like this (cant upload for some reason?)-

type: "effort_controllers/JointGroupPositionController"
joints: 
 - base_link_seg1_joint
 - seg1_seg2_joint
 - seg2_seg3_joint
 - seg3_seg4_joint

Just a simple example of how it needs laying out is all I need!

I often get the error "TypeError: cannot marshal None unless allow_none is enabled" but I assume this is from my file being wrong when I try to put the PID values in.

Thanks for any help Ben

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