gazebo_system.cpp crashes when trying to change multiple joint's PID values about gazebo_ros2_control

[ahcorde]

PID was removed from gazebo_ros2_control. See this PR plugin #44

[cco-seasony]

@ahcorde I can see another issue that might be related to this one.

I am also experiencing something similar. I will write it here but if you think it's better I will open a new issue.

Basically I have two simple links trying to perform a vertical movement (just going up and down like an elevator), with a velocity controller. I am experiencing that when I set the /velocity_controller/command to positive it goes up, when is negative it goes down but if I wanted to stop it at a certain level I cannot achieve that. Once I send velocity 0, the top link starts moving down (gravity I guess) and the joint_state velocity topic does not match with the actual zero velocity that was sent.

I am using the velocity_controllers/JointGroupVelocityController and I am not sure if there is a new way to set up a PID in order to solve my issue.

Any recommendations?

Thanks in advance.

[shonigmann]

@ahcorde - can you give any context on why PID was removed from gazebo_ros2_control? I looked through the PR comments and couldn't find much justification.

I also couldn't find much documentation into how you would be expected to tune a controller to achieve the desired behavior of a simulated actuator (or if you even need to)?

[Briancbn]

Once I send velocity 0, the top link starts moving down (gravity I guess) and the joint_state velocity topic does not match with the actual zero velocity that was sent.

Please check the temporary solution 1 suggested here. It's likely that there is no force limit set for you joint.