Christoph Fröhlich

> > I'm not sure what you are testing having a look at your legend (reference is constant?). > > Oh, the `forward_position_controller` is actually a `pid controller` (reference is...

> > why is it moving if you have a constant reference? > > According to this draft [Design proposals for controllers](https://github.com/ros-controls/roadmap/blob/master/design_drafts/design_of_controllers_and_their_status.md), the `reference` is the input goal of the...

> > You mean it should maintain a constant position (reference is constantly zero) but gets instable? > > Yes, its starting position is 0.5π, after sending the reference 0,...

Can we backport this to iron and humble?

Is this correct that it is still not released for rolling? Furthermore, in contrast to the compatibility table in the README.md the ros2 branch is not compatible with fortress any...

There is a PR for ros2_controllers implementing PID controllers, which will be merged soon: https://github.com/ros-controls/ros2_controllers/pull/434 In the meantime, you could also use `joint_trajectory_controller` with PID control. I'll close this issue...

I'll close this issue as we merged the PR yesterday. If concerns remain, feel free to reopen or open a new (update) issue.

@chama1176 any updates on this topic?

The last PR was merged yesterday, I think this can be closed.

I tried the example reported in [this issue](https://github.com/ros-controls/ros2_controllers/issues/537#issuecomment-2305917903). Following the suggestion of @saikishor I'd also suggest to do this in a different node which can be hosted here or in...