From d0cb6e2e42a048c8e67b7d4993a20aaf2669dd87 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Dr=2E=20Denis=20=C5=A0togl?= Date: Mon, 4 Dec 2023 17:06:48 +0100 Subject: [PATCH] Update doc. --- pid_controller/doc/userdoc.rst | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/pid_controller/doc/userdoc.rst b/pid_controller/doc/userdoc.rst index 91592183c9..5570f523fe 100644 --- a/pid_controller/doc/userdoc.rst +++ b/pid_controller/doc/userdoc.rst @@ -1,7 +1,9 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/doc/userdoc.rst + .. _pid_controller_userdoc: -pid_controller -========================= +PID Controller +-------------------------------- PID Controller implementation that uses PidROS implementation from `control_toolbox `_ package. The controller can be used directly by sending references through a topic or in a chain having preceding or following controllers. @@ -27,20 +29,20 @@ Depending on the reference/state and command interface of the hardware a differe PID term of JTC has different purpose - it enables commanding only ``velocity`` or ``effort`` interfaces to hardware. Execution logic of the controller ----------------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The controller can be also used in "feed-forward" mode where feed-forward gain is used to increase controllers dynamics. If one type of the reference and state interfaces is used, only immediate error is used. If there are two, then the second interface type is considered to be the first derivative of the first type. For example a valid combination would be ``position`` and ``velocity`` interface types. Using the controller ------------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Pluginlib-Library: pid_controller Plugin name: pid_controller/PidController Description of controller's interfaces --------------------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ References (from a preceding controller) ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, @@ -79,6 +81,6 @@ Publishers Parameters ,,,,,,,,,,, -For a list of parameters and their meaning see the YAML file in the ``src`` folder of the controller's package. +The PID controller uses the `generate_parameter_library `_ to handle its parameters. -For an exemplary parameterization see the ``test`` folder of the controller's package. +.. generate_parameter_library_details:: ../src/pid_controller.yaml