pid_tuning

Description

With this ROS package you can tune automatically your PID ROS-based controllers simultaneously, for both one joint at a time or all the joints of your robot at the same time, in an easy way. This ROS package tackles the problem of pid tuning using as approach a Constrained Numerical Optimization Problem (CNOP) solved by bio-inspired algorithms, that are the baselines of this package (ready to use). You only need a set of joint trajectories and optionally cartesian space trajectories of the robot for a specific task.

ros.PID.controllers.auto.tuning.mp4

NOTE: This package is intended to be used for Gazebo simulations and has not been adapted for real robots at the moment.

Robots Morphology

The pid_tuning package can be used with different robot morphologies:
a) Legged Robots
b) Differential Robots (Wheeled Robots)
c) Robot Manipulators

turtle_video_v2.mp4

scara_video_v2.mp4

scorbot_video.mp4

Compatibility with ROS Controllers

This package works for specific ros_control. Here is a list of the controllers that you can use with this package:

• velocity_controllers:
  • joint_position_controller.h
• effort_controllers
  • joint_group_position_controller.h
  • joint_position_controller.h
  • joint_velocity_controller.h

Installation

1. In the terminal, move to the catkin workspace in which you have your robot description package.

cd ~/<workspace_name>/src

2. Clone the github package repository

git clone https://github.com/We-R22/pid_tuning.git

3. Return to your workspace

cd ~/<workspace_name>

4. Compile the workspace

catkin_make

5. Add to the bash

source devel/setup.bash

Implementation

You can find tutorials and more information of how you can implement this package for your robots here https://wiki.ros.org/pid_tuning