Position control

[Manouselis]

Hi everyone,

To my understanding the default ISMC controller used in Blue, is doing velocity control. I would like to do position control (i.e., move to a reference position). Even something simple like a cascaded PID controller is good enough for my application (ideally to do both position and velocity control). Are there any out of the box controllers that I can use or do I need to write my own?

[evan-palmer]

You should be able to use the ros2_controllers pid_controller. I was going to implement a position controller, but opted not to because the PID controller should meet that need already. You could probably also use the joint_trajectory_controller if you want to track a position-based trajectory. I haven't tested these in this project myself, as a forewarning.

As a quick note, I have moved development of this project over to Jazzy, so most of the new features for the project are being targeted for Jazzy or newer (e.g., new velocity controllers, etc.)

[Manouselis]

Hi @evan-palmer, thank you for your quick reply. I'll try the pid_controller you proposed and update you about whether it works ☺️