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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 ?
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}
Yeah I tried this and I still got the error that no p values are specified
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
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: 2022-02-07 06:45:13 -0500
Seen: 52 times
Last updated: Feb 07 '22
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