Adds velocity control to JointPositionController. #1003
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There are times when we don't nessecarily want to tune a PID for each joint. Often we may assume that the physical robot already has a well tuned controller. This was true in the case of the mbari LRAUV. Hence, there should be a way to set position without the use of a PID controller. This commit adds a `use_velocity_commands` option which when set to true bypasses the force based PID giving a very predictable position. The `use_velocity_command` mode has a `cmd_max` which in turn can be used to set a maximum velocity which the joint can move at. Signed-off-by: Arjo Chakravarty <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #1003 +/- ##
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+ Coverage 63.28% 63.90% +0.61%
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Files 238 246 +8
Lines 19423 20035 +612
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+ Hits 12292 12803 +511
- Misses 7131 7232 +101
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Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
chapulina
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src/systems/joint_position_controller/JointPositionController.cc
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src/systems/joint_position_controller/JointPositionController.cc
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| auto dt = std::chrono::duration<double>(_info.dt).count(); | ||
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| // Get the maximum amount in m that this joint may move | ||
| auto maxMovement = this->dataPtr->posPid.CmdMax() * dt; |
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Should we also use CmdMin for negative velocities?
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I don't think its absolutely essential. We could add this in a future PR/release. I guess it would simulate actuators which have asymmetric forward and backward speeds. That being said, I do not feel it is necessary immediately. If we really do want to care about motor characterisitcs then we should probably add stuff like <max_acceleration> <max_torque> etc.
Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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@chapulina This is ready for another round of review. |
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There are times when we don't nessecarily want to tune a PID for each joint. Often we may assume that the physical robot already has a well tuned controller. This was true in the case of the mbari LRAUV. Hence, there should be a way to set position without the use of a PID controller. This commit adds a `use_velocity_commands` option which when set to true bypasses the force based PID giving a very predictable position. The `use_velocity_command` mode has a `cmd_max` which in turn can be used to set a maximum velocity which the joint can move at. Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: William Lew <[email protected]>
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🎉 New feature
Closes #
Summary
There are times when we don't nessecarily want to tune a PID for each joint. Often we
may assume that the physical robot already has a well tuned controller. This
was true in the case of the mbari LRAUV.
Hence, there should be a way to set position without the use of a PID
controller. This commit adds a
use_velocity_commandsoption which when set to true bypasses the forcebased PID giving a very predictable position. The
use_velocity_commandmode has acmd_maxwhich in turncan be used to set a maximum velocity which the joint can move at.
Signed-off-by: Arjo Chakravarty [email protected]
Test it
TODO:
Add unit test.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge