Update the plugin to use a PID, also example & docs. #54
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The PID is from control_toolbox, with dynamic reconfigure to tune it. There is also a very simple example robot to test the plugin.
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Thank you for your contribution. We will probably only find time after the holidays to look into your changes. |
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Thank you for the quick feedback. Totally understandable, the change is also big. |
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I've seen you have some other custom PID controller (well, actually, just P) implementations in some packages. You may wanna move them, or, create new implementations using the control_toolbox one as I did in my package. It took me quite a while to get it right (I'm also not a C++ expert), so I wrote a tutorial package about it: https://github.com/awesomebytes/control_toolbox_pid_tutorial |
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The PID is from control_toolbox, with dynamic reconfigure to tune it.
Now it can be controlled in X, Y & rotation (previously only X & rotation).
There is also a very simple example robot to test the plugin. The example is a robot composed of just two boxes, with no wheels, with the plugin attached to the box that touches the ground.
I also added a README based on the wiki with also the info from the updated plugin.
I kept the same XML interface than before, hopefully the behaviour should stay the same (even tho I don't know where to get a functional simulation that uses the old version to compare with the new).