rospid

A collection of PID controllers for ROS

Installation

Type this in a terminal. This should work if you have ROS and catkin_tools installed on your computer.

cd <your_catkin_workspace>/src
git clone https://github.com/adaldo/rospid
cd <your_catkin_workspace>
catkin build
source devel/setup.bash

Usage

Type this in a terminal.

rosrun rospid <controller>.py

Replace <controller> with the controller that you want to use. For now, you can only choose proportional or zero.

Adding your own controllers using rospy

1. Inherit from abstract.Abstract.
2. Redefine control_law and, if needed, __init__.
3. Initiate a ROS node with rospy.init_node.
4. Spawn an instance of your child class.
5. Call the start method of your object.