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RobotnikAutomation / robotnik_sensors

Robotnik standard sensors description
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Changed type of hardwareInterface of Pan and tilt joints and fixed bug in pan velocity limits #6

Closed thesidjway closed 5 years ago

thesidjway commented 5 years ago

If the pan tilt control is implemented as a position_controllers/JointPositionControl, the motion of camera is jerky and unnatural and thus not suited for simulation purposes. Thus I changed it to a velocity_controllers/JointPositionControl which can read in PID parameters to smoothly control the joint value.

Also the velocity limits for the pan joint were set as -3.1416 to 3.1416, which during control led to 2 values of error being possible. Changing it to -3.1415 to 3.1415 fixes this issue and makes the camera axes move smoothly and naturally.

I have created another PR in the summit_xl_common repository addressing the same (https://github.com/RobotnikAutomation/summit_xl_common/pull/5)

I'd appreciate comments. Thanks -Siddharth

RomanRobotnik commented 5 years ago

Thank you for your commit! great contribution