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fkanehiro / hrpsys-base

Basic RT components and utilities to control robots using OpenRTM
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[ModifiedServo] Create InPorts and OutPorts for pdgains #1313

Closed rohanpsingh closed 2 years ago

rohanpsingh commented 2 years ago

I tested this in simulation and it works as expected.

Even though my application doesn't require it, but maybe we should also add ports for reading the current gains?

fkanehiro commented 2 years ago

@rafaelxero Please check.

rohanpsingh commented 2 years ago

If you would like to try it out with mc_openrtm, this branch creates a datastore make_call: https://github.com/rohanpsingh/mc_openrtm/tree/topic/servo-pdgains-call which can be called from any mc-rtc controller.

rohanpsingh commented 2 years ago

I created port to read the PD gains too. And consequently, the registered names are now *gainsSet and *gainsGet.

@rafaelxero @fkanehiro Could you also please comment on whether it's safe to allow setting P gains and D gains separately? Would it be better to only have one port with a TimedDoubleSeq that's a concatenation of kp vector and kd vector?

rafaelxero commented 2 years ago

Thank you @rohanpsingh, I think it is OK You can merge