simple_pid

A simple PID loop for ROS with support for multiple nodes with self isolating topics depending on node name

Parameters Available

• kp - Proportianality Constant (Datatype: /std_msgs/Int32)
• ki - Integral Constant (Datatype: /std_msgs/Int32)
• kd - Derivative Constant (Datatype: /std_msgs/Int32)
• max - Maximum output value (Datatype: /std_msgs/Int32)
• min - Minimum output value (Datatype: /std_msgs/Int32)

Topics Subscribed

Example node /link

• node_name_in (Ex: /link_in)

  Feedback input should be published to this topic Datatype: /std_msgs/Int32

• node_name_set (Ex: /link_out)

  Setpoint should be published to this node Datatype: /std_msgs/Int32

Topics Published

• node_name_out (Ex: /link_set)

  The output of the PID loop is published to this topic Datatype: /std_msgs/Int32