I use PID method referenced from [PID.cc](https://bitbucket.org/osrf/gazebo/src/b2d2cf062c2b09177badd4a63a1aa5a4e6791485/gazebo/common/PID.cc?at=default&fileviewer=file-view-default)
for rrbot's position control, and I write the control code in .cc plugin file, which is like
private: common::PID jointPID;
this->jointPID.Init(10, 0, 0, 10, -10);
cmd = this->jointPID.Update(this->joint->GetAngle(0).Radian() - pos, stepTime);
this->joint->SetForce(0, cmd1);
I use "roslaunch rrbot_gazebo rrbot_world.launch" to open Gazebo.
Then I want to tune the pid parameter dynamically, so I use rqt, and the control file is like this [rrbot_control.yaml](https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_control/config/rrbot_control.yaml)
So now there are two PID on my robot, and I don't know which PID dominate. I do some experiments but it seems no conclusion. Does anyone have any ideas?
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