ros2_controllers/pid_controller/src/pid_controller.yaml at 4d07bf213d58c0937b5519a387f99552398c6c48 · ros-controls/ros2_controllers · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
pid_controller:
  dof_names: {
    type: string_array,
    default_value: [],
    description: "Specifies dof_names or axes used by the controller. If 'reference_and_state_dof_names' parameter is defined, then only command dof names are defined with this parameter.",
    read_only: true,
    validation: {
      unique<>: null,
      not_empty<>: null,
    }
  }
  reference_and_state_dof_names: {
    type: string_array,
    default_value: [],
    description: "(optional) Specifies dof_names or axes for getting reference and reading states. This parameter is only relevant when state dof names are different then command dof names, i.e., when a following controller is used.",
    read_only: true,
    validation: {
      unique<>: null,
    }
  }
  command_interface: {
    type: string,
    default_value: "",
    description: "Name of the interface used by the controller for writing commands to the hardware.",
    read_only: true,
    validation: {
      not_empty<>: null,
    }
  }
  reference_and_state_interfaces: {
    type: string_array,
    default_value: [],
    description: "Name of the interfaces used by the controller getting hardware states and reference commands. The second interface should be the derivative of the first.",
    read_only: true,
    validation: {
      not_empty<>: null,
      size_gt<>: 0,
      size_lt<>: 3,
    }
  }
  use_external_measured_states: {
    type: bool,
    default_value: false,
    description: "Use external states from a topic instead from state interfaces."
  }
  gains:
    __map_dof_names:
      p: {
        type: double,
        default_value: 0.0,
        description: "Proportional gain for PID"
      }
      i: {
        type: double,
        default_value: 0.0,
        description: "Integral gain for PID"
      }
      d: {
        type: double,
        default_value: 0.0,
        description: "Derivative gain for PID"
      }
      u_clamp_max: {
        type: double,
        default_value: .inf,
        description: "Upper output clamp."
      }
      u_clamp_min: {
        type: double,
        default_value: -.inf,
        description: "Lower output clamp."
      }
      antiwindup: {
        type: bool,
        default_value: false,
        description: "[Deprecated, see antiwindup_strategy] Anti-windup functionality. When set to true, limits
        the integral error to prevent windup; otherwise, constrains the
        integral contribution to the control output. i_clamp_max and
        i_clamp_min are applied in both scenarios."
      }
      i_clamp_max: {
        type: double,
        default_value: 0.0,
        description: "[Deprecated, see antiwindup_strategy] Upper integral clamp."
      }
      i_clamp_min: {
        type: double,
        default_value: 0.0,
        description: "[Deprecated, see antiwindup_strategy] Lower integral clamp."
      }
      antiwindup_strategy: {
        type: string,
        default_value: "legacy",
        description: "Specifies the anti-windup strategy. Options: 'back_calculation',
        'conditional_integration', 'legacy' or 'none'. Note that the 'back_calculation' strategy use the
        tracking_time_constant parameter to tune the anti-windup behavior. When a strategy other
        than 'none' is selected, it will override the controller's default anti-windup behavior.",
        validation: {
          one_of<>: [[
            "back_calculation",
            "conditional_integration",
            "legacy",
            "none"
          ]]
        }
      }
      tracking_time_constant: {
        type: double,
        default_value: 0.0,
        description: "Specifies the tracking time constant for the 'back_calculation' strategy. If
        set to 0.0 when this strategy is selected, a recommended default value will be applied."
      }
      feedforward_gain: {
        type: double,
        default_value: 0.0,
        description: "Gain for the feed-forward part."
      }
      angle_wraparound: {
        type: bool,
        default_value: false,
        description: "For joints that wrap around (i.e., are continuous).
          Normalizes position-error to -pi to pi."
      }
      save_i_term: {
        type: bool,
        default_value: true,
        description: "Indicating if integral term is retained after re-activation"
      }