Calibrating PID procedure

[Mark Barton]

The linorobot "Base Controller Tutorial"   (https://github.com/linorobot/linorobot/wiki/2.-Base-Controller),
describes a  procedure for tuning the PID constants. I could not find any of the files in the current release. Is this still available somewhere or was it never ported to Jazzy?

Thanks

Mark 

[Paul Bouchier]

Hi Mark. That program does not exist in linorobot2. I looked at the code and it seems to be quite tied in with the dynamic reconfigure mechanism in ROS1, which was replaced by parameters in ROS2, so it would not be directly applicable to ROS2 anyway. It looks to me like it just prints the values that you set using dynamic reconfigure in ROS1, (but I confess I didn't understand it fully).

Paul

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[Mark Barton]

Thanks Paul for looking into this. I imagine there were lots of code that had to be rewritten when switching to ROS2

Mark

[Andrew Karp]

Hello, rebuilding my 4WD that ran on Lino robot 1 and upgrading it to Lino robot 2. I’m using raspberry pi 4 (Ubuntu 22.04.05 lts 64 bit), rp lidar a1, esp32d, 4 l298 1 to each motor, imu 9250. Anyone have a diagram for l298, encoder, imu, to the esp just like what was posted for the Lino 1?

Andrew Karp

On Apr 8, 2026, at 08:01, Mark Barton <mbart...@gmail.com> wrote:

Thanks Paul for looking into this. I imagine there were lots of code that had to be rewritten when switching to ROS2

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