ros-controls / gz_ros2_control

Connect the latest version of Gazebo with ros2_control.
https://gazebosim.org
Apache License 2.0
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Missing Derivative Gain for Position Command #377

Closed Tiz000 closed 3 months ago

Tiz000 commented 3 months ago

Currently, the gz_ros2_control package implements only a proportional gain control for position commands. Is there a specific reason why only proportional gain is implemented without derivative gain in the position control strategy?

christophfroehlich commented 3 months ago

Afaik the proportional gain is just added to make the physics engine work. Control tasks should be implemented in your ros2_controller. A different topic, PIDs for effort interfaces https://github.com/ros-controls/gz_ros2_control/issues/306

Tiz000 commented 3 months ago

I understand that, but I don't want to add my control tasks into the plugin, I would like to implement a better way in which position commands are sent to the joints to simulate the internal dynamic of my motors and make the simulation more realistic. Thanks for your fast response.

christophfroehlich commented 3 months ago

I would like to implement a better way in which position commands are sent to the joints to simulate the internal dynamic of my motors and make the simulation more realistic.

That's exactly what the linked PR wants to achieve. Contributions are very welcome :)

Tiz000 commented 3 months ago

Thank you so much