Description
Code and doc on using PID controller using ROS2 and ros2_control.
Key Features:
- Contains ROS2 package for PID control and tuning.
- Supports position PID control.
- Supports cascaded position velocity PID control using chainable controllers.
- Easy usage with launch file and configuration files.
- Setup to automatically view plots and use GUI to adjust PID gains.
- Control motor using ROS2 control.
- Uses MyActuator robot actuator x6-60, but can be adapted to any actuator.
- Communicates using CAN protocol or adapted to any protocol.
- Works with Linux Ubuntu 22.04 Jammy and ROS2 Humble or newer.
