Adapt pid params for examples.

Author: livanov93

ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf

@@ -40,7 +40,7 @@
     <parent link="slideBar"/>
     <child link="cart"/>
     <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
-    <dynamics damping="0.0" friction="0.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
   </joint>
 
   <ros2_control name="IgnitionSystem" type="system">

ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf

@@ -40,7 +40,7 @@
     <parent link="slideBar"/>
     <child link="cart"/>
     <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
-    <dynamics damping="0.0" friction="0.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
   </joint>
 
   <ros2_control name="IgnitionSystem" type="system">
@@ -57,14 +57,8 @@
       </state_interface>
       <state_interface name="velocity"/>
       <state_interface name="effort"/>
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_pos">10.0</param>
+      <param name="p_vel">100.0</param>
     </joint>
   </ros2_control>
 

ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf

@@ -73,7 +73,7 @@
     <parent link="slideBar"/>
     <child link="cart"/>
     <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
-    <dynamics damping="0.0" friction="0.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
   </joint>
   <link name="imu">
     <inertial>
@@ -123,14 +123,7 @@
       <state_interface name="position"/>
       <state_interface name="velocity"/>
       <state_interface name="effort"/>
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_vel">100.0</param>
     </joint>
     <sensor name="cart_imu_sensor">
       <state_interface name="orientation.x"/>

ign_ros2_control_demos/urdf/test_diff_drive.xacro.urdf

@@ -36,6 +36,7 @@
     <child link="left_wheel"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.2"/>
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <!-- left wheel Link -->
@@ -70,6 +71,7 @@
     <child link="right_wheel"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.2"/>
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <!-- right wheel Link -->
@@ -143,14 +145,7 @@
       </command_interface>
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_vel">1000.0</param>
     </joint>
     <joint name="right_wheel_joint">
       <command_interface name="velocity">
@@ -159,14 +154,7 @@
       </command_interface>
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_vel">1000.0</param>
     </joint>
   </ros2_control>
 

ign_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf

@@ -71,6 +71,7 @@
     <child link="left_wheel" />
     <axis xyz="0 0 1" />
     <dynamics damping="0.2" />
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <!-- right wheel Link -->
@@ -99,6 +100,7 @@
     <child link="right_wheel" />
     <axis xyz="0 0 1" />
     <dynamics damping="0.2" />
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <!-- Steering Link -->
@@ -121,6 +123,8 @@
     <parent link="chassis" />
     <child link="steering_link" />
     <axis xyz="0 0 1" />
+    <dynamics damping="0.2" />
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <!-- traction wheel link -->
@@ -148,6 +152,8 @@
     <child link="wheel_front_link" />
     <origin xyz="0 0 0" rpy="-1.57 1.57 0" />
     <axis xyz="0 0 1" />
+    <dynamics damping="0.2" />
+    <limit effort="1000.0" velocity="30"/>
   </joint>
 
   <ros2_control name="IgnitionSystem" type="system">
@@ -157,27 +163,14 @@
     <joint name="steering_joint">
       <command_interface name="position" />
       <state_interface name="position" />
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_pos">10.0</param>
+      <param name="p_vel">100.0</param>
     </joint>
     <joint name="traction_joint">
       <command_interface name="velocity" />
       <state_interface name="velocity" />
       <state_interface name="position" />
-      <param name="p">100.0</param>
-      <param name="i">0.0</param>
-      <param name="d">25.0</param>
-      <param name="iMax">50</param>
-      <param name="iMin">-50</param>
-      <param name="cmdMax">100</param>
-      <param name="cmdMin">-100</param>
-      <param name="cmdOffset">0.0</param>
+      <param name="p_vel">100.0</param>
     </joint>
   </ros2_control>