pid_control

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.

pid_control

The pid_control package provides ROS 2 lifecycle nodes for low-level vehicle control. It outputs Roscco commands for the OSCC (Open Source Car Control) system.

Nodes

1. `pid_control_node`

Basic dual PID controller for steering and velocity. Subscribes to an Ackermann setpoint and sensor feedback, runs independent PID loops, and publishes a combined Roscco command.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current vehicle velocity

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command

2. `vel_driven_feedforward_pid_node`

alt text

Feedforward + PID controller for steering and velocity. Adds a velocity-dependent feedforward torque model on top of the steering PID to improve tracking at speed. Also supports D-on-measurement to avoid derivative kick, an EMA filter on velocity, and configurable throttle/brake scaling.

The feedforward model is:

T_ff = (c0 + c1*v + c2*v²) * steering_setpoint + friction_offset * sign(steering_setpoint)

Coefficients are fit from bag data using the scripts in analysis/ (see analysis/README.md). Parameters are hot-reloadable at runtime.

Subscriptions	Type	Description
`ackermann`	`ackermann_msgs/AckermannDriveStamped`	Desired steering angle and speed
`steering_feedback`	`roscco_msg/SteeringAngle`	Current steering angle
`velocity_feedback`	`std_msgs/Float64`	Current velocity (CAN)
`odom_feedback`	`nav_msgs/Odometry`	Current velocity (odometry, alternative source)

Publishers	Type	Description
`roscco`	`roscco_msg/Roscco`	Steering torque + velocity command
`feedforward`	`pid_msgs/Feedforward`	Feedforward debug output
`velocity_derived`	`std_msgs/Float64`	Filtered velocity used internally

3. `ackermann_smoother_node`

Rate-limiter that sits between the planner and PID. Smooths incoming Ackermann setpoints by limiting steering and speed acceleration, preventing abrupt jumps that could destabilize control or cause mechanical stress.

Subscriptions	Type	Description
`ackermann_in`	`ackermann_msgs/AckermannDriveStamped`	Raw setpoint from planner

Publishers	Type	Description
`ackermann_out`	`ackermann_msgs/AckermannDriveStamped`	Smoothed setpoint for PID

Configuration

config/vel_driven_feedforward_pid.yaml — parameters for the feedforward PID node
Config is loaded via the launch file’s config_file argument

Analysis Tools

The analysis/ directory contains Python scripts for fitting the feedforward steering torque model from bag data. See analysis/README.md for the full pipeline.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	wato_test
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	std_msgs
	ackermann_msgs
	roscco_msg
	pid_msgs
	control_toolbox
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_control` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

pid_control package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-03
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

WATonomous

Authors

No additional authors.