Hello Ahmed-Sabanci:
your config file is in joint_configurator/config, and when you roslaunch youbot_driver_ros_interface youbot_driver, you can then use the sudo ./youBot_JointConfiguration arm 1 arm-1.cfg to set the Joint1 of manipulator, and arm 2 arm-2.cfg for Joint2, and so on. Then you will get the following picture,
![Uploading rpg_pid_diff.png…]()
but I din't found a good way to tune as in the thesis. There is a way I know, you can use the youbot api to get the joint torque, I will very appeciate if someone could give me an advice.
Hello Ahmed-Sabanci: your config file is in joint_configurator/config, and when you
roslaunch youbot_driver_ros_interface youbot_driver, you can then use thesudo ./youBot_JointConfiguration arm 1 arm-1.cfgto set the Joint1 of manipulator, and arm 2 arm-2.cfg for Joint2, and so on. Then you will get the following picture, ![Uploading rpg_pid_diff.png…]() but I din't found a good way to tune as in the thesis. There is a way I know, you can use the youbot api to get the joint torque, I will very appeciate if someone could give me an advice.Btw, at the https://github.com/svenschneider/youbot-manipulation/issues/5 there is another way, you can also change the youbot_driver/config/youbot_manipulator.cfg as the link mentioned.