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Published 20 hours ago • verified publisher icon ros-controls

Porting PID controllers to ROS2 controllers

Open Alex-Zongo opened this issue 2 years ago • 2 comments

Hi guys... I am currently working on a humanoid control project with ROS2. The problem I faces, is that the robot is unable to keep it's starting position and it slips and move by itself on its back. Compared to the implementation in ROS Noetic with PID controllers which by the way is working fine, the only difference was the pid parameters missing in ROS2 controllers.

Is there anyone working on porting the PID controllers from ROS1? or anyone working on bipedal walking with ROS2 who found a way around that kind of problem?

Alex-Zongo avatar Sep 24 '22 17:09 Alex-Zongo

I can only say that whatever is out there on a PR exists. What's not on a PR, does not exist as far as we are concerned.

You are very welcome to provide a PR with PID controllers in ROS2

On Sat, 24 Sept 2022, 18:53 Alex B. S. M. A. ZONGO, < @.***> wrote:

Hi guys... I am currently working on a humanoid control project with ROS2. The problem I faces, is that the robot is unable to keep it's starting position and it slips and move by itself on its back. Compared to the implementation in ROS Noetic with PID controllers which by the way is working fine, the only difference was the pid parameters missing in ROS2 controllers.

Is there anyone working on porting the PID controllers from ROS1? or anyone working on bipedal walking with ROS2 who found a way around that kind of problem?

— Reply to this email directly, view it on GitHub https://github.com/ros-controls/gazebo_ros2_control/issues/152, or unsubscribe https://github.com/notifications/unsubscribe-auth/AA24PYMXZRMHTUW43KEWQNDV7452DANCNFSM6AAAAAAQUXP5ME . You are receiving this because you are subscribed to this thread.Message ID: @.***>

bmagyar avatar Sep 25 '22 18:09 bmagyar

@bmagyar Thanks. I will check it out.

Alex-Zongo avatar Oct 03 '22 02:10 Alex-Zongo

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 now due to inactivity (and it is not even directly related with gazebo_ros2_control?)

christophfroehlich avatar May 09 '23 08:05 christophfroehlich