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Use new API of PID class #1410

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Merged
merged 3 commits into from
Jun 18, 2025
Merged

Use new API of PID class #1410

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aa7bd28
Use new API of PID class
christophfroehlich Jun 16, 2025
69547d0
Fix pre-commit
christophfroehlich Jun 16, 2025
efa9534
Add error_deadband
christophfroehlich Jun 17, 2025
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14 changes: 9 additions & 5 deletions ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -356,15 +356,19 @@ void ScaledJointTrajectoryController::update_pids()
{
for (size_t i = 0; i < num_cmd_joints_; ++i) {
const auto& gains = params_.gains.joints_map.at(params_.joints.at(map_cmd_to_joints_[i]));
control_toolbox::AntiWindupStrategy antiwindup_strat;
antiwindup_strat.set_type(gains.antiwindup_strategy);
antiwindup_strat.i_max = gains.i_clamp;
antiwindup_strat.i_min = -gains.i_clamp;
antiwindup_strat.error_deadband = gains.error_deadband;
antiwindup_strat.tracking_time_constant = gains.tracking_time_constant;
if (pids_[i]) {
// update PIDs with gains from ROS parameters
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
pids_[i]->set_gains(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);
#pragma GCC diagnostic pop
pids_[i]->set_gains(gains.p, gains.i, gains.d, gains.u_clamp_max, gains.u_clamp_min, antiwindup_strat);
} else {
// Init PIDs with gains from ROS parameters
pids_[i] = std::make_shared<control_toolbox::Pid>(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);
pids_[i] = std::make_shared<control_toolbox::Pid>(gains.p, gains.i, gains.d, gains.u_clamp_max, gains.u_clamp_min,
antiwindup_strat);
}
ff_velocity_scale_[i] = gains.ff_velocity_scale;
}
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