-
Notifications
You must be signed in to change notification settings - Fork 125
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add support for getting PID parameters from loaded parameters (#374)
Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
- Loading branch information
1 parent
fc97344
commit 6a4cc84
Showing
6 changed files
with
357 additions
and
50 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
20 changes: 20 additions & 0 deletions
20
gazebo_ros2_control_demos/config/cart_controller_position_with_pids.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,20 @@ | ||
controller_manager: | ||
ros__parameters: | ||
update_rate: 100 # Hz | ||
|
||
position_controller: | ||
type: position_controllers/JointGroupPositionController | ||
|
||
joint_state_broadcaster: | ||
type: joint_state_broadcaster/JointStateBroadcaster | ||
|
||
position_controller: | ||
ros__parameters: | ||
joints: | ||
- slider_to_cart | ||
|
||
gazebo_ros2_control: | ||
ros__parameters: | ||
pid_gains: | ||
position: | ||
slider_to_cart: {kp: 100.0, kd: 10.0, ki: 1.0, max_integral_error: 10000.0} |
Oops, something went wrong.