<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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