refactor(control_toolbox): fix deprecated PID methods

after changes in ros-controls/control_toolbox#246

Author: texhnolyze

bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp

@@ -23,8 +23,8 @@ Stabilizer::Stabilizer(std::string ns) {
 
   pid_trunk_fused_pitch_ = std::make_shared<control_toolbox::PidROS>(pitch_node_, "");
   pid_trunk_fused_roll_ = std::make_shared<control_toolbox::PidROS>(roll_node_, "");
-  pid_trunk_fused_pitch_->initPid();
-  pid_trunk_fused_roll_->initPid();
+  pid_trunk_fused_pitch_->initialize_from_ros_parameters();
+  pid_trunk_fused_roll_->initialize_from_ros_parameters();
 
   reset();
 }
@@ -51,8 +51,8 @@ KickPositions Stabilizer::stabilize(const KickPositions &positions, const rclcpp
     cop_x_error = cop_x - positions.trunk_pose.translation().x();
     cop_y_error = cop_y - positions.trunk_pose.translation().y();
 
-    double x_correction = pid_trunk_fused_roll_->computeCommand(cop_x_error, dt);
-    double y_correction = pid_trunk_fused_pitch_->computeCommand(cop_y_error, dt);
+    double x_correction = pid_trunk_fused_roll_->compute_command(cop_x_error, dt);
+    double y_correction = pid_trunk_fused_pitch_->compute_command(cop_y_error, dt);
 
     stabilized_positions.trunk_pose.translation().x() += x_correction;
     stabilized_positions.trunk_pose.translation().y() += y_correction;

bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp

@@ -6,8 +6,8 @@ Stabilizer::Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stab
     : params_(params),
       pid_trunk_pitch_(node, "stabilizer.trunk_pid.pitch"),
       pid_trunk_roll_(node, "stabilizer.trunk_pid.roll") {
-  pid_trunk_pitch_.initPid();
-  pid_trunk_roll_.initPid();
+  pid_trunk_pitch_.initialize_from_ros_parameters();
+  pid_trunk_roll_.initialize_from_ros_parameters();
 
   reset();
 }
@@ -43,8 +43,8 @@ DynupResponse Stabilizer::stabilize(const DynupResponse &ik_goals, const rclcpp:
 
     // Adapt trunk based on PID controller
     goal_fused.fusedPitch +=
-        pid_trunk_pitch_.computeCommand(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
-    goal_fused.fusedRoll += pid_trunk_roll_.computeCommand(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
+        pid_trunk_pitch_.compute_command(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
+    goal_fused.fusedRoll += pid_trunk_roll_.compute_command(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
 
     // Check if the trunk is stable, meaning it isn't leaning too much
     // TODO it would be better to use the rotational velocity of the imu to determine stability

bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp

@@ -4,8 +4,8 @@ namespace bitbots_quintic_walk {
 
 WalkStabilizer::WalkStabilizer(rclcpp::Node::SharedPtr node)
     : pid_trunk_fused_pitch_(node, "node.trunk_pid.pitch"), pid_trunk_fused_roll_(node, "node.trunk_pid.roll") {
-  pid_trunk_fused_pitch_.initPid();
-  pid_trunk_fused_roll_.initPid();
+  pid_trunk_fused_pitch_.initialize_from_ros_parameters();
+  pid_trunk_fused_roll_.initialize_from_ros_parameters();
 
   reset();
 }
@@ -29,9 +29,9 @@ WalkResponse WalkStabilizer::stabilize(const WalkResponse& response, const rclcp
 
   // adapt trunk values based on PID controllers
   double fused_roll_correction =
-      pid_trunk_fused_roll_.computeCommand(goal_fused.fusedRoll - response.current_fused_roll, dt);
+      pid_trunk_fused_roll_.compute_command(goal_fused.fusedRoll - response.current_fused_roll, dt);
   double fused_pitch_correction =
-      pid_trunk_fused_pitch_.computeCommand(goal_fused.fusedPitch - response.current_fused_pitch, dt);
+      pid_trunk_fused_pitch_.compute_command(goal_fused.fusedPitch - response.current_fused_pitch, dt);
 
   // Change trunk x offset (in the trunks frame of reference) based on the PID controllers
   WalkResponse stabilized_response{response};