Added service for reading PIDs as well pid initialisation with weight… #45
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…s of first pid controller if several controllers are added to the pid gain setter in order to mimic the idea of setting simlar weights to all controllers like done in setGains
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Instead of a ROS service, would a topic broadcasting PID state work for you as well?. Take a look at ros-controls/control_msgs#14. The message is quite complete, and exposes PID gains, among other things. |
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I my case as well as in general I think it is much more useful to get this information on request, since it is not data that is frequently changed. Moreover, I would like to have it directly instead of waiting for a topic message. |
…HEAD Conflicts: src/pid_gains_setter.cpp srv/SetPidGains.srv
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…s of first pid controller if several controllers are added to the pid gain setter in order to mimic the idea of setting simlar weights to all controllers like done in setGains