Add pid sim params into demos urdfs.

Author: livanov93

ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf

@@ -57,6 +57,14 @@
       </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>
     </joint>
   </ros2_control>
 

ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf

@@ -123,6 +123,14 @@
       <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>
     </joint>
     <sensor name="cart_imu_sensor">
       <state_interface name="orientation.x"/>

ign_ros2_control_demos/urdf/test_diff_drive.xacro.urdf

@@ -143,6 +143,14 @@
       </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>
     </joint>
     <joint name="right_wheel_joint">
       <command_interface name="velocity">
@@ -151,6 +159,14 @@
       </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>
     </joint>
   </ros2_control>
 

ign_ros2_control_demos/urdf/test_gripper_mimic_joint.xacro.urdf

@@ -77,6 +77,14 @@
       </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>
     </joint>
     <joint name="left_finger_joint">
       <param name="mimic">right_finger_joint</param>
@@ -85,6 +93,14 @@
       <state_interface name="position"/>
       <state_interface name="velocity"/>
       <state_interface name="effort"/>
+      <param name="p">100.0</param>
+      <param name="i">1.0</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>
     </joint>
   </ros2_control>
 

ign_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf

@@ -157,11 +157,27 @@
     <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>
     </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>
     </joint>
   </ros2_control>