PID - cart_example_effort

[LuisYordano]

Hi,

I am testing cart_example_effort:

There are no PID parameters :

cartpole_controller_effort.yaml

controller_manager: ros__parameters: update_rate: 100 # Hz

effort_controllers:
  type: effort_controllers/JointGroupEffortController

joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

effort_controllers: ros__parameters: joints: - slider_to_cart command_interfaces: - effort state_interfaces: - position - velocity - effort

---

However in ROS1 has PID parameters (https://github.com/ros-simulation/gazebo_ros_demos):

rrbot_control.yaml

rrbot:

joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50

joint1_position_controller: type: effort_controllers/JointPositionController joint: joint1 pid: {p: 100.0, i: 0.01, d: 10.0} joint2_position_controller: type: effort_controllers/JointPositionController joint: joint2 pid: {p: 100.0, i: 0.01, d: 10.0}

---

Could indicate the equivalent PID parameters in gazebo_ros2_control.

Thank you in advance.

[destogl]

Hi @LuisYordano,

the issue here is that the "effort_controllers/JointPositionController" is not ported/implemented in ros2_controllers. If you would have time to tackle this, I would be glad to support you!

[christophfroehlich]

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, one could use joint_trajectory_controller with PID control to achieve what was asked for.

I'll close this issue now due to inactivity (and because it is not even directly related with gazebo_ros2_control)