README.md

Requirement for this package

1. tkinter python library.

   sudo apt-get install python python-tk

For more information visit here

How to use This package

1. Import the msg in your script.

   from pid_tune.msg import PidTune

2. Write the subscriber in the code.

 rospy.Subscriber('/pid_tuning', PidTune, self.set_pid_value )

3. Get the Value and change the Gain values.

 def set_pid_value(self,data):
  	self.kp_x = data.Kp 
  	self.kp_y = data.Kp 
  	self.kp_z = data.Kp
  	
  	self.kd_x =  data.Kd
  	self.kd_y =  data.Kd
  	self.kd_z = data.Kd
  	
  	self.ki_x = data.Ki
  	self.ki_y = data.Ki
  	self.ki_z = data.Ki

Package information for tuning drone

Publications:

/$pid_params (pid_tune/PidTune)

$ denotes corresponding letter for the pid. eg: ppid_params for pitch pid parameters

launch the ros node by the following command

• For differential drive robot, you can run the following node

   roslaunch pid_tune pid_tune_diff.launch
  

• For drone, you can run the following node

   roslaunch pid_tune pid_tune_drone.launch
  

Run the ros node by the following command

• For differential drive robot, you can run the following node

   rosrun pid_tune pid_tune_differential.py
  

• For drone, you can run the following node

   rosrun pid_tune pid_tune_drone.py