gain turn

Author: HPaper

open_manipulator_gazebo/config/gazebo_controller.yaml

@@ -1,30 +1,30 @@
 gazebo_ros_control:
   pid_gains:
     joint1:
-      p: 100000.0
-      i: 1000.0
-      d: 100.0
+      p: 3000.0
+      i: 100.0
+      d: 700.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint2:
-      p: 100000.0
-      i: 1000.0
-      d: 500.0
+    p: 3000.0
+    i: 100.0
+    d: 700.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint3:
-      p: 100000.0
-      i: 1000.0
-      d: 500.0
+    p: 3000.0
+    i: 100.0
+    d: 700.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint4:
-      p: 100000.0
-      i: 1000.0
-      d: 500.0
+    p: 3000.0
+    i: 100.0
+    d: 700.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
@@ -43,3 +43,47 @@ gazebo_ros_control:
       antiwindup: false
       publish_state: true
 
+#pid_gains:
+  #joint1:
+    #p: 100000.0
+    #i: 1000.0
+    #d: 100.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+  #joint2:
+  #p: 100000.0
+  #i: 1000.0
+  #d: 500.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+  #joint3:
+  #p: 100000.0
+  #i: 1000.0
+  #d: 500.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+  #joint4:
+  #p: 100000.0
+  #i: 1000.0
+  #d: 500.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+  #gripper:
+    #p: 100000.0
+    #i: 1000.0
+    #d: 500.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+  #gripper_sub:
+    #p: 100000.0
+    #i: 250.0
+    #d: 1000.0
+    #i_clamp: 0.2
+    #antiwindup: false
+    #publish_state: true
+