How to Modify the controller and ode in ROS

asked 2021-04-29 17:13:06 -0500

CroCo gravatar image

I have a manipulator and I would like to run some control algorithms. ROS uses PID controller by default to achieve the movement. As a control engineer, I need to modify this setting so I can run my own control algorithms based on my URDF model. I have two questions, first, is it possible to change the controller to a customized one? Also, can I change the ODE for solving differential equations? I'm familiar with roscpp and the current ros version I'm using is Kinetic. Any suggestions?

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Comments

A quick comment:

ROS uses PID controller by default to achieve the movement

this deserves some nuance: "ROS" doesn't do anything (it's a collection of components, which are passive by default, only by combining and coordinating those in certain ways do we implement certain behaviour).

You're referring to specific packages here. If you are, please state which packages you are using or referring to.

Without such information, no one here can tell you whether you "can modify this setting".

gvdhoorn gravatar image gvdhoorn  ( 2021-04-30 03:55:34 -0500 )edit

@gvdhoorn, sorry you are right. I'm using Gazebo actually.

CroCo gravatar image CroCo  ( 2021-11-06 17:25:29 -0500 )edit