ros2_controllers/pid_controller/test/pid_controller_params.yaml at 8f7198d51ba892fcb1b974d76b427484c6640b02 · ros-controls/ros2_controllers · GitHub

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/**:
  ros__parameters:
# TODO(christohfroehlich): Remove this global parameters once the deprecated antiwindup parameters are removed.
    gains:
      joint1: {antiwindup_strategy: "none", i_clamp_max: .inf, i_clamp_min: -.inf}
      joint2: {antiwindup_strategy: "none", i_clamp_max: .inf, i_clamp_min: -.inf}

test_pid_controller:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 1.0, i: 2.0, d: 3.0, u_clamp_max: 5.0, u_clamp_min: -5.0}

test_pid_controller_unlimited:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 1.0, i: 2.0, d: 3.0}

test_pid_controller_angle_wraparound_on:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 1.0, i: 2.0, d: 3.0, angle_wraparound: true}

test_pid_controller_with_feedforward_gain:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 0.5, i: 0.0, d: 0.0, feedforward_gain: 1.0}

test_pid_controller_with_feedforward_gain_dual_interface:
  ros__parameters:
    dof_names:
      - joint1
      - joint2

    command_interface: velocity

    reference_and_state_interfaces: ["position", "velocity"]

    gains:
      joint1: {p: 0.5, i: 0.3, d: 0.4, feedforward_gain: 1.0}
      joint2: {p: 0.5, i: 0.3, d: 0.4, feedforward_gain: 1.0}

test_save_i_term_off:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 1.0, i: 2.0, d: 3.0, save_i_term: false}

test_save_i_term_on:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1: {p: 1.0, i: 2.0, d: 3.0, save_i_term: true}

test_pid_controller_discretization_gains:
  ros__parameters:
    dof_names:
      - joint1

    command_interface: position

    reference_and_state_interfaces: ["position"]

    gains:
      joint1:
        p: 1.0
        i: 2.0
        d: 3.0
        derivative_filter_time: 1.0
        u_clamp_max: 5.0
        u_clamp_min: -5.0
        i_clamp_max: 4.0
        i_clamp_min: -4.0
        antiwindup_strategy: "back_calculation"
        integration_method: "backward_euler"
        derivative_method: "backward_euler"
        tracking_time_constant: 0.1
        error_deadband: 0.01
        feedforward_gain: 1.5
        angle_wraparound: true
        save_i_term: false
        activate_state_publisher: true