-
Notifications
You must be signed in to change notification settings - Fork 283
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
[JTC] Disable use of closed-loop PID adapter if controller is used in open-loop mode. #551
[JTC] Disable use of closed-loop PID adapter if controller is used in open-loop mode. #551
Conversation
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I agree, but let's add that to the doc.
open_loop_control (boolean)
Use controller in open-loop control mode using ignoring the states provided by hardware interface and using last commands as states in the next control step. This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
I did not understand that fully without looking at the code. This is only important for the start point of the interpolation (and now also disabling feedback PIDs -> comment on gains structure).
I uploaded a proposal for an update to the docs: StoglRobotics-forks#6 |
… open-loop mode. (ros-controls#551) (cherry picked from commit 8029a2f)
As the name says. It is not sensible to close loop using PID adapter if controller should run in the open-loop.