joint_position_controller should to reset PID windup in starting() (ros ticket #4485)

[ahendrix]

I-term winds up when motors halt and causes problems when motors are reset.

Potential fix: {{{

Index: include/robot_mechanism_controllers/joint_position_controller.h

--- include/robot_mechanism_controllers/joint_position_controller.h (revision 39960) +++ include/robot_mechanism_controllers/joint_position_controller.h (working copy) @@ -94,9 +94,7 @@ */ void getCommand(double & cmd);

• virtual void starting() {
• command_ = jointstate->position_;
• }

• virtual void starting();

  /*!

  • \brief Issues commands to the joint. Should be called at regular intervals Index: src/joint_position_controller.cpp

    --- src/joint_position_controller.cpp (revision 39960) +++ src/joint_position_controller.cpp (working copy) @@ -103,6 +103,12 @@ }

+void JointPositionController::starting() +{

• command_ = jointstate->position_;
• pidcontroller.reset(); +} + void JointPositionController::setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min) { pidcontroller.setGains(p,i,d,i_max,i_min); }}}

trac data:

• Owner: sglaser
• Reporter: dking
• Reported at: Mon Jun 28 19:16:36 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4485

[ahendrix]

[sglaser] r40627 and r40628 in pr2_controllers 1.2.4