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Hi All, Im trying to implement my own pid controller os a simple joint. my difficulty is to understand how to build it using srv/topics/actionlib etc, and how to get a continuous action that will evantually stop the joint at the right position.
thanks, Nir.
pr2_controller_manager provides a hard realtime loop to control the robot mechanism. The robot mechanism is represented by a set of effort controlled joints. I really tried this and it is a really great tool. Dont think that it is only for pr2. Here some useful links to check out
implementing pid with control toolbox and pr2 controller
hope these help
You can refer to this repo to write a controller:
I have written a fairly generic PID server that you can get from here. For a joint you could start a few PID servers - one for position/angle/velocity. The nice thing to do is use rxplot to visualize your desired vs. actual joint angle, use dynamic reconfigure to modify your PID gains during runtime, and tune those gains based on how well the PID loop is performing.
Asked: 2012-09-23 04:57:41 -0500
Seen: 5,436 times
Last updated: Jul 23 '14
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