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sbgisen / vesc

VESC Interface for ROS
Apache License 2.0
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Fix position_control_sample.launch #67

Closed nyxrobotics closed 1 year ago

nyxrobotics commented 1 year ago

Abstract

Specify PID gain in position_control_sample.launch.

How to Reproduce the Bug

Problem due to the Bug

Factors

Suggestion

jsupratman13 commented 1 year ago

Can you elaborate on this a little bit more?

nyxrobotics commented 1 year ago

The sample velocity_duty_control_sample.launch has PID gains but position_control_sample.launch doesn't. Since these are PID-controlled samples, gain adjustment is a must. It is better to specify gain parameters for position_control_sample.launch.

https://github.com/sbgisen/vesc/blob/3d5e62e736d2c3f92d26e006b3ccf48f5f5c4dc4/vesc_hw_interface/launch/velocity_duty_control_sample.launch#L8-L25

https://github.com/sbgisen/vesc/blob/3d5e62e736d2c3f92d26e006b3ccf48f5f5c4dc4/vesc_hw_interface/launch/position_control_sample.launch#L8-L19

jsupratman13 commented 1 year ago

Fair enough. Do you have any recommended values or should we use the default values?