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Set Dynamixel PID gain parameters for position and velocity #57

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yjvyas opened this issue May 19, 2023 · 2 comments
Open

Set Dynamixel PID gain parameters for position and velocity #57

yjvyas opened this issue May 19, 2023 · 2 comments
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@youtalk

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yjvyas commented May 19, 2023 •
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How do I set the internal Dynamixel PID gains for position and velocity? I can see that there is a set of variables in dynamixel_hardware.cpp (kExtraJointParameters) that sets this from the urdf file. However, when I specify "Position_P_Gain" and "Position_D_Gain", in the INFO output for the controller I can only see that "Position_P_Gain" has been set.
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yjvyas commented Jul 14, 2023 •
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I found the issue, it's only for the humble branch, line 46 of dynamixel_hardware.cpp is missing the comma:

dynamixel_hardware/dynamixel_hardware/src/dynamixel_hardware.cpp

Line 46 in d148399

"Position_D_Gain"

and it should be "Position_D_Gain,", which allows it to find the right constants to set.

@youtalk youtalk self-assigned this Jul 25, 2023
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youtalk commented Jul 25, 2023

Thank you for your feedback.
I hope #64 resolves it. Please wait soon.

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