Update to Foxy Fitzroy #2
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@bdholt1 I'm sorry I don't have time to properly review this, but... Thank you! I'll go ahead and create the foxy branch so you can re-target the PR. Then I'll accept it immediately |
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@AndyZe I've changed the base to 'foxy', resolved merge conflicts and built/tested it locally. |
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@AndyZe I've been away from the keyboard for a while. Not sure what you want to do with this PR - merge it or should I close it instead? |
AndyZe
approved these changes
May 28, 2024
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Thank you! |
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This is a basic but functional update the the
bouncybranch such that it compiles with ROS2 Foxy and the PID controller works.I've made a few changes that may be undesirable, but my goal was to get it working as quickly as possible. To do so I've made the lambda callback functions stand alone, removed the QoS profile (something was definitely not right even using KeepAlive) and made most of the PID parameters available using the parameter server. #1 May be fixed if this is merged.
You may wish to create a new branch for foxy and rather I resubmit the PR into that branch.
I'm definitely not expert on PID control, but I really appreciate your work and hope this will be useful. Feedback and comments welcome.
Launch with
$ ros2 launch pid servo_sim.pyUpdate parameters
$ ros2 param set /controller Kp 5.0