From 070d512caa6950c39971b8de471b34b0d21849ed Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Thu, 2 Mar 2023 09:46:55 +0100
Subject: [PATCH 1/5] Add pids for simulation.

---
 urdf/ur.ros2_control.xacro | 66 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f1050ab..ab2ccdf 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -75,6 +75,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">10000.0</param>
+          <param name="i">0.0</param>
+          <param name="d">5.0</param>
+          <param name="iMax">75</param>
+          <param name="iMin">-75</param>
+          <param name="cmdMax">150</param>
+          <param name="cmdMin">-150</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}shoulder_lift_joint">
         <command_interface name="position">
@@ -91,6 +102,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">10000.0</param>
+          <param name="i">0.0</param>
+          <param name="d">5.0</param>
+          <param name="iMax">75</param>
+          <param name="iMin">-75</param>
+          <param name="cmdMax">150</param>
+          <param name="cmdMin">-150</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}elbow_joint">
         <command_interface name="position">
@@ -107,6 +129,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">10000.0</param>
+          <param name="i">0.0</param>
+          <param name="d">5.0</param>
+          <param name="iMax">75</param>
+          <param name="iMin">-75</param>
+          <param name="cmdMax">150</param>
+          <param name="cmdMin">-150</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_1_joint">
         <command_interface name="position">
@@ -123,6 +156,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">500.0</param>
+          <param name="i">0.0</param>
+          <param name="d">5.0</param>
+          <param name="iMax">14</param>
+          <param name="iMin">-14</param>
+          <param name="cmdMax">28</param>
+          <param name="cmdMin">-28</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_2_joint">
         <command_interface name="position">
@@ -139,6 +183,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">500.0</param>
+          <param name="i">0.0</param>
+          <param name="d">5.0</param>
+          <param name="iMax">14</param>
+          <param name="iMin">-14</param>
+          <param name="cmdMax">28</param>
+          <param name="cmdMin">-28</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_3_joint">
         <command_interface name="position">
@@ -155,6 +210,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p">300.0</param>
+          <param name="i">0.0</param>
+          <param name="d">0.0</param>
+          <param name="iMax">14</param>
+          <param name="iMin">-14</param>
+          <param name="cmdMax">28</param>
+          <param name="cmdMin">-28</param>
+          <param name="cmdOffset">0.0</param>
+        </xacro:if>
       </joint>
 
       <xacro:unless value="${sim_gazebo or sim_ignition}">

From 1289ef18cc4675417fd14f75f86a476b595394dc Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Fri, 3 Mar 2023 17:34:28 +0100
Subject: [PATCH 2/5] Add dynamics per joint. Change pid params.

---
 urdf/ur.ros2_control.xacro | 144 ++++++++++++++++++++++++-------------
 urdf/ur_macro.xacro        |  12 ++--
 2 files changed, 102 insertions(+), 54 deletions(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index ab2ccdf..2b22d02 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -77,14 +77,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">10000.0</param>
-          <param name="i">0.0</param>
-          <param name="d">5.0</param>
-          <param name="iMax">75</param>
-          <param name="iMin">-75</param>
-          <param name="cmdMax">150</param>
-          <param name="cmdMin">-150</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.01</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">50.0</param>
+          <param name="i_vel">100.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">75.0</param>
+          <param name="iMin_vel">-75.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
       <joint name="${prefix}shoulder_lift_joint">
@@ -104,14 +112,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">10000.0</param>
-          <param name="i">0.0</param>
-          <param name="d">5.0</param>
-          <param name="iMax">75</param>
-          <param name="iMin">-75</param>
-          <param name="cmdMax">150</param>
-          <param name="cmdMin">-150</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.01</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">300.0</param>
+          <param name="i_vel">90.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">75.0</param>
+          <param name="iMin_vel">-75.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
       <joint name="${prefix}elbow_joint">
@@ -131,14 +147,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">10000.0</param>
-          <param name="i">0.0</param>
-          <param name="d">5.0</param>
-          <param name="iMax">75</param>
-          <param name="iMin">-75</param>
-          <param name="cmdMax">150</param>
-          <param name="cmdMin">-150</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.01</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">50.0</param>
+          <param name="i_vel">100.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">75.0</param>
+          <param name="iMin_vel">-75.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
       <joint name="${prefix}wrist_1_joint">
@@ -158,14 +182,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">500.0</param>
-          <param name="i">0.0</param>
-          <param name="d">5.0</param>
-          <param name="iMax">14</param>
-          <param name="iMin">-14</param>
-          <param name="cmdMax">28</param>
-          <param name="cmdMin">-28</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.001</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">10.0</param>
+          <param name="i_vel">10.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">14.0</param>
+          <param name="iMin_vel">-14.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
       <joint name="${prefix}wrist_2_joint">
@@ -185,14 +217,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">500.0</param>
-          <param name="i">0.0</param>
-          <param name="d">5.0</param>
-          <param name="iMax">14</param>
-          <param name="iMin">-14</param>
-          <param name="cmdMax">28</param>
-          <param name="cmdMin">-28</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.001</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">5.0</param>
+          <param name="i_vel">10.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">14.0</param>
+          <param name="iMin_vel">-14.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
       <joint name="${prefix}wrist_3_joint">
@@ -212,14 +252,22 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p">300.0</param>
-          <param name="i">0.0</param>
-          <param name="d">0.0</param>
-          <param name="iMax">14</param>
-          <param name="iMin">-14</param>
-          <param name="cmdMax">28</param>
-          <param name="cmdMin">-28</param>
-          <param name="cmdOffset">0.0</param>
+          <param name="p_pos">10.0</param>
+          <param name="i_pos">0.0</param>
+          <param name="d_pos">0.0001</param>
+          <param name="iMax_pos">1.57</param>
+          <param name="iMin_pos">-1.57</param>
+          <param name="cmdMax_pos">3.14</param>
+          <param name="cmdMin_pos">-3.14</param>
+          <param name="cmdOffset_pos">0.0</param>
+          <param name="p_vel">5.0</param>
+          <param name="i_vel">10.0</param>
+          <param name="d_vel">0.0</param>
+          <param name="iMax_vel">14.0</param>
+          <param name="iMin_vel">-14.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
         </xacro:if>
       </joint>
 
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 7e43bcd..a56e950 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -288,7 +288,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
@@ -300,7 +300,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
@@ -312,7 +312,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
@@ -324,7 +324,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
@@ -336,7 +336,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
@@ -348,7 +348,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
 
     <link name="${prefix}ft_frame"/>

From 03a9cf6e947a7ec5025951b335cfd1f54126277f Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Wed, 8 Mar 2023 12:34:55 +0100
Subject: [PATCH 3/5] Update pid params for sim.

---
 urdf/ur.ros2_control.xacro | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 2b22d02..57c5ffd 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -85,8 +85,8 @@
           <param name="cmdMax_pos">3.14</param>
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">50.0</param>
-          <param name="i_vel">100.0</param>
+          <param name="p_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">75.0</param>
           <param name="iMin_vel">-75.0</param>
@@ -120,8 +120,8 @@
           <param name="cmdMax_pos">3.14</param>
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">300.0</param>
-          <param name="i_vel">90.0</param>
+          <param name="p_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">75.0</param>
           <param name="iMin_vel">-75.0</param>
@@ -155,8 +155,8 @@
           <param name="cmdMax_pos">3.14</param>
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">50.0</param>
-          <param name="i_vel">100.0</param>
+          <param name="p_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">75.0</param>
           <param name="iMin_vel">-75.0</param>
@@ -191,7 +191,7 @@
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
           <param name="p_vel">10.0</param>
-          <param name="i_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">14.0</param>
           <param name="iMin_vel">-14.0</param>
@@ -226,7 +226,7 @@
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
           <param name="p_vel">5.0</param>
-          <param name="i_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">14.0</param>
           <param name="iMin_vel">-14.0</param>
@@ -261,7 +261,7 @@
           <param name="cmdMin_pos">-3.14</param>
           <param name="cmdOffset_pos">0.0</param>
           <param name="p_vel">5.0</param>
-          <param name="i_vel">10.0</param>
+          <param name="i_vel">1000.0</param>
           <param name="d_vel">0.0</param>
           <param name="iMax_vel">14.0</param>
           <param name="iMin_vel">-14.0</param>

From 6a3d062f491095f2d45964caf0ad5f475ed05fd2 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Mon, 20 Mar 2023 12:52:15 +0100
Subject: [PATCH 4/5] Adapt pids for simulation.

---
 urdf/ur.ros2_control.xacro | 108 +++++++++++--------------------------
 1 file changed, 30 insertions(+), 78 deletions(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 57c5ffd..0a57abc 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -77,19 +77,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.01</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">10.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">75.0</param>
-          <param name="iMin_vel">-75.0</param>
+          <param name="p_vel">4000.0</param>
+          <param name="i_vel">250.0</param>
+          <param name="d_vel">1.0</param>
+          <param name="iMax_vel">15.0</param>
+          <param name="iMin_vel">-15.0</param>
           <param name="cmdMax_vel">150.0</param>
           <param name="cmdMin_vel">-150.0</param>
           <param name="cmdOffset_vel">0.0</param>
@@ -112,19 +104,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.01</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">10.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">75.0</param>
-          <param name="iMin_vel">-75.0</param>
+          <param name="p_vel">100000.0</param>
+          <param name="i_vel">1600.0</param>
+          <param name="d_vel">2.5</param>
+          <param name="iMax_vel">45.0</param>
+          <param name="iMin_vel">-45.0</param>
           <param name="cmdMax_vel">150.0</param>
           <param name="cmdMin_vel">-150.0</param>
           <param name="cmdOffset_vel">0.0</param>
@@ -147,19 +131,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.01</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">10.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">75.0</param>
-          <param name="iMin_vel">-75.0</param>
+          <param name="p_vel">10000.0</param>
+          <param name="i_vel">450.0</param>
+          <param name="d_vel">2.0</param>
+          <param name="iMax_vel">30.0</param>
+          <param name="iMin_vel">-30.0</param>
           <param name="cmdMax_vel">150.0</param>
           <param name="cmdMin_vel">-150.0</param>
           <param name="cmdOffset_vel">0.0</param>
@@ -182,19 +158,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.001</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">10.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">14.0</param>
-          <param name="iMin_vel">-14.0</param>
+          <param name="p_vel">3000.0</param>
+          <param name="i_vel">175.0</param>
+          <param name="d_vel">0.5</param>
+          <param name="iMax_vel">7.0</param>
+          <param name="iMin_vel">-7.0</param>
           <param name="cmdMax_vel">28.0</param>
           <param name="cmdMin_vel">-28.0</param>
           <param name="cmdOffset_vel">0.0</param>
@@ -217,19 +185,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.001</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">5.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">14.0</param>
-          <param name="iMin_vel">-14.0</param>
+          <param name="p_vel">2500.0</param>
+          <param name="i_vel">150.0</param>
+          <param name="d_vel">0.3</param>
+          <param name="iMax_vel">6.0</param>
+          <param name="iMin_vel">-6.0</param>
           <param name="cmdMax_vel">28.0</param>
           <param name="cmdMin_vel">-28.0</param>
           <param name="cmdOffset_vel">0.0</param>
@@ -252,19 +212,11 @@
         <state_interface name="effort"/>
         <xacro:if value="${sim_ignition}">
           <!-- initial PID values for the IgnitionSystem and simulation -->
-          <param name="p_pos">10.0</param>
-          <param name="i_pos">0.0</param>
-          <param name="d_pos">0.0001</param>
-          <param name="iMax_pos">1.57</param>
-          <param name="iMin_pos">-1.57</param>
-          <param name="cmdMax_pos">3.14</param>
-          <param name="cmdMin_pos">-3.14</param>
-          <param name="cmdOffset_pos">0.0</param>
-          <param name="p_vel">5.0</param>
-          <param name="i_vel">1000.0</param>
-          <param name="d_vel">0.0</param>
-          <param name="iMax_vel">14.0</param>
-          <param name="iMin_vel">-14.0</param>
+          <param name="p_vel">2000.0</param>
+          <param name="i_vel">10.0</param>
+          <param name="d_vel">0.2</param>
+          <param name="iMax_vel">5.0</param>
+          <param name="iMin_vel">-5.0</param>
           <param name="cmdMax_vel">28.0</param>
           <param name="cmdMin_vel">-28.0</param>
           <param name="cmdOffset_vel">0.0</param>

From 3a862130e5ca74e46cf403501ee2f982ff4bc1b4 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Tue, 21 Mar 2023 11:07:05 +0100
Subject: [PATCH 5/5] Add parameter for absolute mesh paths.

---
 urdf/ur_macro.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index a56e950..a65c8b3 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -70,6 +70,7 @@
     fake_sensor_commands:=false
     sim_gazebo:=false
     sim_ignition:=false
+    force_abs_paths:=false
     headless_mode:=false
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     use_tool_communication:=false
@@ -96,7 +97,7 @@
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"
-      force_abs_paths="${sim_gazebo or sim_ignition}"/>
+      force_abs_paths="${force_abs_paths}"/>
 
 
     <!-- ros2 control include -->