how change PID gain for Testing the ArbotiX joint trajectory action controllers in simulation

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hossein zakizadeh

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Aug 4, 2017, 3:20:15 PM8/4/17
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( i run this commands in section 11.16.1 (Testing the ArbotiX joint trajectory action controllers in simulation
of  ros by example volume 2 book  

roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true
rosrun rviz rviz -d `rospack find rbx2_arm_nav`/config/arm_sim.rviz 
rosrun rbx2_arm_nav trajectory_demo.py _reset:=false _sync:=true 

 i want change gain PID and plot in rqt for this example
how can i do that 

Patrick Goebel

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Aug 6, 2017, 10:30:58 AM8/6/17
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I don't think it is possible to change the servo PID parameters using the ArbotiX joint action controller or the joint controller.  Please take a look at the ROS Wiki page for the ArbotiX joint action controller as well as the parameters section of the arbotix_python page and you can see the parameters that are available for the servos.

If you are using real Dynamixel servos, it seems you can change the PID settings for each servo.  Try Googling "dynamixel servos change pid settings" and you will find a number of pages that address this process.

--patrick

hossein zakizadeh

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Aug 6, 2017, 1:08:40 PM8/6/17
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thanks . can i use pid package and use node for each joint like this ?? = 

 <node name="controller" pkg="pid" type="controller" ns="left_wheel" output="screen" >
      <param name="node_name" value="left_wheel_pid" />
      <param name="Kp" value="5.0" />
      <param name="Ki" value="0.0" />
      <param name="Kd" value="0.1" />
      <param name="upper_limit" value="10" />
      <param name="lower_limit" value="-10" />
      <param name="windup_limit" value="10" />
      <param name="max_loop_frequency" value="100.0" />
      <param name="min_loop_frequency" value="100.0" />
      <remap from="setpoint" to="/setpoint" />
     </node>

    <node name="servo_sim_node" pkg="pid" type="plant_sim" ns="left_wheel" output="screen" >
      <param name="plant_order" value="2" />
    </node>

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Patrick Goebel

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Aug 11, 2017, 8:54:25 AM8/11/17
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It looks like you are trying to use the pid package as a controller for simulated servos.  I would ask your question on http://answers.ros.org.   Since your question is not covered in the ROS By Example books, do not refer to the books in your question on answers.ros.org since otherwise they will close your question.

--patrick
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