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ros-controls / control_toolbox

This package contains several C++ classes useful in writing controllers.
https://control.ros.org
BSD 3-Clause "New" or "Revised" License
128 stars 98 forks source link

Update documentation to reflect ROS 2 usage #165

Closed roncapat closed 11 months ago

roncapat commented 1 year ago 
  rclcpp::Time last_time = get_clock()->now();
  while (true) {
    rclcpp::Time time = get_clock()->now();
    double effort = pid.computeCommand(position_desi_ - currentPosition(), (time - last_time).nanoseconds());
    last_time = time;
}
roncapat commented 11 months ago

@bmagyar may I ask a brief review?

roncapat commented 11 months ago

@christophfroehlich @destogl tagging you since I saw you involved in recent commits :) this should be a very quick thing IMHO. Could you give a look please?