Do I need PID gains for velocity_controllers?
I would like to use velocity_controllers/JointGroupVelocityController
. In ros_controllers, the controllers velocity_controllers/JointVelocityController
and velocity_controllers/JointGroupVelocityController
are forward command controller. My understanding is that the controller doesn't need pid gains; but if I compile my code, I get these errors
[ERROR] [1653642231.819643360, 0.195000000]: No p gain specified for pid. Namespace: /rrbot/gazebo_ros_control/pid_gains/joint1
[ERROR] [1653642231.820926527, 0.195000000]: No p gain specified for pid. Namespace: /rrbot/gazebo_ros_control/pid_gains/joint2
I'm using Gazebo 9 and melodic.