Question

As per the title, why are there so many different formats to input PID gains in a yaml file ?? Shouldn't something as big as ros be standardized?? Also can anyone link me the correct format for velocity_controllers/JointPositionController ?

Asked by PumpkinIcedTea on 2022-02-07 07:45:13 UTC

Answer 1

You meand these?

void velocity_controllers::JointPositionController::setGains (const double & p,
        const double &  i,
        const double &  d,
        const double &  i_max,
        const double &  i_min,
        const bool &  antiwindup = false 
    )

You can see some examples of YAML there, e.g.:

waist_yaw_position_controller:
  type: effort_controllers/JointPositionController
  joint: waist_yaw
  pid: {p: 100.0, i: 0.01, d: 10.0}

Asked by ljaniec on 2022-02-07 08:41:56 UTC

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Yeah I tried this and I still got the error that no p values are specified

Asked by PumpkinIcedTea on 2022-02-07 09:32:37 UTC

Please add error logs, your project/code and anything else which could help there? Vague questions will give you blurry answers.

Asked by ljaniec on 2022-02-07 09:41:26 UTC

I'm really sorry but I can't provide much info as I am working for a company and this is their confidential product.. I tried to use the format found in the file above but got the error no p value specified. However I verified that its reading the P values via rqt_gui. Either way, the robot just explodes also lol

Asked by PumpkinIcedTea on 2022-02-07 09:45:19 UTC

That sounds a bit extreme, lol. You can try to use ROS CLI to track the messages from rqt_gui maybe? Just to see what format is it. If you cannot show the project it will be harder, but the error part in the terminal would be fine, I think..? Regarding the explosion - maybe it is URDF with incorrect configured interface with JointPositionController?

Asked by ljaniec on 2022-02-07 10:13:20 UTC

Why are there so many formats to input PID gains for different controllers??

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