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Limit I_error in ROS2 PID Controller to Prevent Windup

Windup is not definitely solved by decreasing $K_I$, it only slows Wind-Ups. Any good controller will have an Anti-Windup-Feature implemented though, including the ROS2-Control package where you ...
Scoeerg's user avatar
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Can we handle exceptions in the ros2_control control loop thread safe methods read, update, and write in a custom robot without real-time constraints?

I don't know why it should not be possible. We integrated try-catch blocks around the realtime methods of controllers and hardware components.
Christoph Froehlich's user avatar
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Waiting for 'controller_manager' node to exist

There is not a single log output from gazebo_ros2_control. By comparing your URDF with the demos, the only difference I see now is the filename: Can you try ...
Christoph Froehlich's user avatar
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What is the way to post my gripper and dexter hand joint position data to the /joint_states topic without going through the hardware interface

Why do you implement this as a controller instead of a hardware component? I don't get your intention behind this decision. Do you have joint_state_broadcaster publishing on the same topic? This would ...
Christoph Froehlich's user avatar
1 vote
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Implementing IMU broadcaster with hardware component inside ros2_control

You don't need necessarily a second ros2_control file, you have to include them anyway in the robot description URDF. But you need different ros2_control tags for each hardware component. Your ...
Christoph Froehlich's user avatar
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Dynamic assignment of joints to ros2_controllers

Currently, this is not possible. You could implement the wildcards in your controller while parsing the parameters. But: Controller manager does not support the change of DOF while a controller is ...
Christoph Froehlich's user avatar
1 vote
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How to implement UM7 IMU in ros2_control

The IMU sensor broadcaster needs a hardware component, which exports the correct data as state interfaces. The driver you linked is a simple ROS node publishing the data as ROS topic, it's not a ...
Christoph Froehlich's user avatar
2 votes
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How to Configure a PID controller Yaml file in ROS2_Control

See this section: You have to use type: pid_controller/PidController. (I have to admit, this could be documented clearer). ...
Christoph Froehlich's user avatar
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Difference between "ParamListener" and "auto_declare" when initialising parameters in ros2_control

ParamListener is needed if the generate_parameter_library is used, the example you have linked just don't use it and the parameters are handled (and declared) ...
Christoph Froehlich's user avatar
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Alternatives to gripper_controller on OSX

Can you try to remove this part and compile it from source? Maybe we can fix this, as it comes from a pre-c++17 time. Furthermore, we have a new gripper controller proposal. But you will have to ...
Christoph Froehlich's user avatar
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Issue with low odometry publish rate in ROS 2 Foxy

Be aware that Foxy is EOL since quite a long time now. Why exactly do you have to use it? Some ideas: What is the update rate of the controller_manger? This is the general upper limit. If you ...
Christoph Froehlich's user avatar

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