ros2_controllers/pid_controller/src/pid_controller.yaml at 113066de54ba88a57ab7dd58bc09988acd904136 · pascalau/ros2_controllers · GitHub

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pid_controller:
  dof_names: {
    type: string_array,
    default_value: [],
    description: "Specifies dof_names or axes used by the controller. If 'reference_and_state_dof_names' parameter is defined, then only command dof names are defined with this parameter.",
    read_only: true,
    validation: {
      unique<>: null,
      not_empty<>: null,
    }
  }
  reference_and_state_dof_names: {
    type: string_array,
    default_value: [],
    description: "(optional) Specifies dof_names or axes for getting reference and reading states. This parameter is only relevant when state dof names are different then command dof names, i.e., when a following controller is used.",
    read_only: true,
    validation: {
      unique<>: null,
    }
  }
  command_interface: {
    type: string,
    default_value: "",
    description: "Name of the interface used by the controller for writing commands to the hardware.",
    read_only: true,
    validation: {
      not_empty<>: null,
    }
  }
  reference_and_state_interfaces: {
    type: string_array,
    default_value: [],
    description: "Name of the interfaces used by the controller getting hardware states and reference commands. The second interface should be the derivative of the first.",
    read_only: true,
    validation: {
      not_empty<>: null,
      size_gt<>: 0,
      size_lt<>: 3,
    }
  }
  use_external_measured_states: {
    type: bool,
    default_value: false,
    description: "Use external states from a topic instead from state interfaces."
  }
  enable_feedforward: {
    type: bool,
    default_value: false,
    description: "Enables feedforward gain."
  }
  gains:
    __map_dof_names:
      p: {
        type: double,
        default_value: 0.0,
        description: "Proportional gain for PID"
      }
      i: {
        type: double,
        default_value: 0.0,
        description: "Integral gain for PID"
      }
      d: {
        type: double,
        default_value: 0.0,
        description: "Derivative gain for PID"
      }
      antiwindup: {
        type: bool,
        default_value: false,
        description: "Antiwindup functionality. When set to true, limits
        the integral error to prevent windup; otherwise, constrains the
        integral contribution to the control output. i_clamp_max and
        i_clamp_min are applied in both scenarios."
      }
      i_clamp_max: {
        type: double,
        default_value: 0.0,
        description: "Upper integral clamp."
      }
      i_clamp_min: {
        type: double,
        default_value: 0.0,
        description: "Lower integral clamp."
      }
      feedforward_gain: {
        type: double,
        default_value: 0.0,
        description: "Gain for the feed-forward part."
      }
      angle_wraparound: {
        type: bool,
        default_value: false,
        description: "For joints that wrap around (i.e., are continuous).
          Normalizes position-error to -pi to pi."
      }
      save_i_term: {
        type: bool,
        default_value: true,
        description: "Indicating if integral term is retained after re-activation"
      }