control_toolbox

See ros_control and control_toolbox documentation on ros.org

Build Status (Melodic & Noetic)

Publication

If you find this work useful please give credits to the authors by citing:

• S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodríguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Lüdtke and E. Fernandez Perdomo “ros_control: A generic and simple control framework for ROS”, The Journal of Open Source Software, 2017. (PDF)

@article{ros_control,
author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodr{\'i}guez Tsouroukdissian, Adolfo  and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and L{\"u}dtke, Mathias and Fern{\'a}ndez Perdomo, Enrique},
title = {ros\_control: A generic and simple control framework for ROS},
journal = {The Journal of Open Source Software},
year = {2017},
doi = {10.21105/joss.00456},
URL = {http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf}
}

Changelog for package control_toolbox

1.19.0 (2022-05-10)

• Switch to std::bind
• Increased integral gains & windup limits from +-1000 to +-100000
• Update README build status badge
• Remove Travis CI config
• Add GH actions CI workflow
• Update include/control_toolbox/pid.h
• code review fixes
• Allow smoother resets 1. Currently after a reset (or init), since p_error_last is_ set to 0, the first computeCommand is calculating a false large derivative error. Proposed fix: only calculate error_dot if p_error_last_ contains a real value. The PR leaves reset() behavior untouched, and provides an additional reset function that allows setting the initial values for d_error and i_error 2. Allow setting initial i_error. This allows PID to be used in a smoother manner in systems switching from manual to automatic modes. See: http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/
  1. Improve cases where dt==0 or invalid errors were given (return last cmd_ instead of 0)
• Contributors: Jochen Sprickerhof, Koby Aizer, Matt Reynolds, Steve Golton, Bence Magyar

1.18.2 (2020-06-04)

• Python 3 compat part II
• Contributors: Tobias Fischer

1.18.1 (2020-06-01)

• Python 3 compat
• Migrate to new industrial_ci
• Contributors: Matt Reynolds, Tobias Fischer

1.18.0 (2020-03-27)

• Bump CMake version to avoid CMP0048 warning
• add static method to generate non-deterministic seed
• migrate to STL random library
• Contributors: James Xu, Shane Loretz, ahcorde

1.17.0 (2019-01-31)

• update anti windup clamping
• update negativeIntegrationAntiwindupTest
• Address catkin_lint issues
• Add executable flag
• convert to package xml format 2
• Remove doc header
• Contributors: Bence Magyar, Cong, Gennaro Raiola

1.16.0 (2017-11-30)

• switched to industrial_ci
• Add control_msgs to CATKIN_DEPENDS.
• Contributors: Bence Magyar, Mathias Luedtke, Mike Purvis

1.15.0 (2016-06-28)

• avoid ABI breaks in PID class
• fix add_dependencies call
• rollback API changes in PID class
• cfg: removed rosbuild support related error handling
• Contributors: Bence Magyar, Igor Napolskikh, ipa-mig

1.14.0 (2016-05-03)

• Fix negative gains issue and add tests; update gains setting through DynamicReconfig
• Add antiwindup and tests to PID controller; rename old behaviour 'clamping'
• Move message to control_toolbox
• Add optional state publishing to PID controller, for logging/debugging/etc
• Fix some typos in comments
• changed the range of dynamic reconfigure to allow negative ones
• Address -Wunused-parameter warnings
• Factor out updatePid as negative calls to computeCommand
• Increasing covergae of PID class test suite.
• Chain calls of computeCommand and updatePid for code reuse
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Carlos Rosales, Guillaume Walck, Paul Bovbel, VahidAminZ

1.13.2 (2015-05-22)

• CRITICAL BUGFIX: Fix broken PID command computation.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Bovbel

1.13.1 (2015-04-30)

• Improvement in integral contribution implementation. Resolve #32.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Carlos Rosales

1.13.0 (2014-10-31)

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