Add velocityControlImplementationType option to gazebo_yarp_controlboard plugin #514
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…ard plugin This option permits to switch between using a velocity PID for the Velocity Control Mode (what has been implemented until now) or the use of an integrator that integrates the velocity reference and then uses the position low level PID. The setting is now optional and if not present will default to direct_velocity_pid, but it will be compulsory in gazebo-yarp-plugins 4.x .
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…to integrator_and_position_pid This change is ignored for versions of gazebo-yarp-plugins <= 3.5.0, but for version of gazebo-yarp-plugins > 3.5.0 it aligns the behaviour of the VOCAB_CM_VELOCITY control mode with the one of the real iCub robot. Related issues: * robotology/gazebo-yarp-plugins#514 * robotology/gazebo-yarp-plugins#240
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…to integrator_and_position_pid This change is ignored for versions of gazebo-yarp-plugins <= 3.5.0, but for version of gazebo-yarp-plugins > 3.5.0 it aligns the behaviour of the VOCAB_CM_VELOCITY control mode with the one of the real iCub robot. Related issues: * robotology/gazebo-yarp-plugins#514 * robotology/gazebo-yarp-plugins#240
This was referenced Sep 21, 2020
traversaro
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…to integrator_and_position_pid This change is ignored for versions of gazebo-yarp-plugins <= 3.5.0, but for version of gazebo-yarp-plugins > 3.5.0 it aligns the behaviour of the VOCAB_CM_VELOCITY control mode with the one of the real iCub robot. Related issues: * robotology/gazebo-yarp-plugins#514 * robotology/gazebo-yarp-plugins#240
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…rp_controlboard The option was added in #514 and it is meant to be present in the VELOCITY_CONTROL group, but before this fix it was checked as part of the global plugin parameter space.
This was referenced Sep 4, 2021
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This option permits to switch between using a velocity PID for the Velocity Control Mode (what has been implemented until now) or the use of an integrator that integrates the velocity reference and then uses the position low level PID.
The setting is now optional and if not present will default to
direct_velocity_pid, but it will be compulsory in gazebo-yarp-plugins 4.x .Fix #240 .