XiaoYoung

Hi, I'm interested in this controller but failed to build it. ``` parallels@ubuntu:~/Desktop/pid_ws$ colcon build --symlink-install --allow-overriding control_msgs control_toolbox Starting >>> control_msgs Finished > control_toolbox Finished > pid_controller --- stderr:...

> you have to install/build rolling version of ros2_control, but you have humble. Thanks! I wonder if the pid controller will be available on humble after this PR get merged.

Hi, I'm trying to use it on a `continuous` joint with reference position value [0, 2π). It works fine such as 0.5π to π or vice versa. However, it behaves...

> 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 position, state 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 pid controller and 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, it should rotate...

> Then the problem is, that your position encoder is limited to [0, 2π), and the PID position controller turns in the wrong direction if it ever turns left of...

The param `runtime_param_update` seems not working? I set it to `true` and activated the pid controller first with `p` equals 1 and changed `p` to 10, but not seeing any...

same problem