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Published 20 hours ago • verified publisher icon dynamixel-community

Set Dynamixel PID gain parameters for position and velocity

Open yjvyas opened this issue 1 year ago • 2 comments

How do I set the internal Dynamixel PID gains for position and velocity? I can see that there is a set of variables in dynamixel_hardware.cpp (kExtraJointParameters) that sets this from the urdf file. However, when I specify "Position_P_Gain" and "Position_D_Gain", in the INFO output for the controller I can only see that "Position_P_Gain" has been set.

yjvyas avatar May 19 '23 14:05 yjvyas

I found the issue, it's only for the humble branch, line 46 of dynamixel_hardware.cpp is missing the comma: https://github.com/dynamixel-community/dynamixel_hardware/blob/d1483998099fc35c14ace45f4be8e8ea8198c2fb/dynamixel_hardware/src/dynamixel_hardware.cpp#L46 and it should be "Position_D_Gain,", which allows it to find the right constants to set.

yjvyas avatar Jul 14 '23 12:07 yjvyas

Thank you for your feedback. I hope #64 resolves it. Please wait soon.

youtalk avatar Jul 25 '23 00:07 youtalk