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ros-controls / gazebo_ros2_control

Wrappers, tools and additional API's for using ros2_control with Gazebo Classic
Apache License 2.0
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Porting PID controllers to ROS2 controllers #152

Closed Alex-Zongo closed 1 year ago

Alex-Zongo commented 2 years ago

Hi guys... I am currently working on a humanoid control project with ROS2. The problem I faces, is that the robot is unable to keep it's starting position and it slips and move by itself on its back. Compared to the implementation in ROS Noetic with PID controllers which by the way is working fine, the only difference was the pid parameters missing in ROS2 controllers.

Is there anyone working on porting the PID controllers from ROS1? or anyone working on bipedal walking with ROS2 who found a way around that kind of problem?

bmagyar commented 2 years ago

I can only say that whatever is out there on a PR exists. What's not on a PR, does not exist as far as we are concerned.

You are very welcome to provide a PR with PID controllers in ROS2

On Sat, 24 Sept 2022, 18:53 Alex B. S. M. A. ZONGO, < @.***> wrote:

Hi guys... I am currently working on a humanoid control project with ROS2. The problem I faces, is that the robot is unable to keep it's starting position and it slips and move by itself on its back. Compared to the implementation in ROS Noetic with PID controllers which by the way is working fine, the only difference was the pid parameters missing in ROS2 controllers.

Is there anyone working on porting the PID controllers from ROS1? or anyone working on bipedal walking with ROS2 who found a way around that kind of problem?

— Reply to this email directly, view it on GitHub https://github.com/ros-controls/gazebo_ros2_control/issues/152, or unsubscribe https://github.com/notifications/unsubscribe-auth/AA24PYMXZRMHTUW43KEWQNDV7452DANCNFSM6AAAAAAQUXP5ME . You are receiving this because you are subscribed to this thread.Message ID: @.***>

Alex-Zongo commented 2 years ago

@bmagyar Thanks. I will check it out.

christophfroehlich commented 1 year ago

There is a PR for ros2_controllers implementing PID controllers, which will be merged soon: https://github.com/ros-controls/ros2_controllers/pull/434 In the meantime, you could also use joint_trajectory_controller with PID control.

I'll close this issue now due to inactivity (and it is not even directly related with gazebo_ros2_control?)