Does this method work also for mobile robot?

[edoardo-cioffi-1997]

I've used this method to tune the PIDs of a robotic arm and it works greatly. Now I have to tune the PIDs of a mobile robot with differential drive controllers on its wheels. Can I use this very algorithm?

[busum]

Hi Edoardo, sorry for the delay. It's good to know that you had a good experience with the package. Answering your question: it is currently possible to tune low-level PID controllers for mobile robots, i.e. implement direct control on the wheels, e.g. effort_controllers/joint_velocity_controller from ros_control package. If you have implemented differential drive from the ros package diff_drive_controller, it is not possible to apply the pid_tuning package directly because differential drive does not require explicit PID configuration.

We are working for migrating pid_tuning package to ROS2 and we will release more tutorials ASAP, particularly for differential mobile robots and serial manipulators, which are under development now.

Best regards