Velocity controllers and missing P gain

asked 2019-01-04 06:09:58 -0600

kumpakri gravatar image

I am using the VelocityJointController from velocity_controllers to control a robot loaded in Gazebo simulation. I specify PID gains in a .yaml file. However when I launch the simulation, the error pops out

[ERROR] [1546601044.601198350, 0.165000000]: No p gain specified for pid.  Namespace: /robot/gazebo_ros_control/pid_gains/joint_rear_left_wheel

And no metter what PID gains I set, the robot behaves always the same. The PID gains set in .yaml configuration file has no effect on the simulation.

my transmission:

<transmission name="tran_rear_left_wheel">
    <joint name="joint_rear_left_wheel">
    <actuator name="motor_rear_left_wheel">

control yaml

  # Publish all joint states -----------------------------------
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Velocity Controllers -----------------------------------------
    type: velocity_controllers/JointVelocityController
    joint: joint_rear_left_wheel
    pid: {p: 1, i: 1, d: 1}

What is happening?

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