roll back to last pid gains

Author: Darby Lim

open_manipulator_gazebo/config/gazebo_controller.yaml

@@ -1,30 +1,30 @@
 gazebo_ros_control:
   pid_gains:
     joint1:
-      p: 3000.0
-      i: 100.0
-      d: 700.0
+      p: 100000.0
+      i: 1000.0
+      d: 100.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint2:
-    p: 3000.0
-    i: 100.0
-    d: 700.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint3:
-    p: 3000.0
-    i: 100.0
-    d: 700.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint4:
-    p: 3000.0
-    i: 100.0
-    d: 700.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
@@ -42,48 +42,47 @@ gazebo_ros_control:
       i_clamp: 0.2
       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
+#   pid_gains:
+#     joint1:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint2:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint3:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint4:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       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