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More stable PID values for Gazebo. Thanks to Mikael Arguedas

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Konstantinos Chatzilygeroudis 2014-08-13 23:16:45 +03:00
parent 7235c87012
commit 807cb7be49
1 changed files with 26 additions and 26 deletions
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52
nao_dcm_apps/nao_dcm_gazebo/config/gazebo_ros_control_params.yaml
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@ -1,52 +1,52 @@
nao_dcm/gazebo_ros_control/pid_gains: nao_dcm/gazebo_ros_control/pid_gains:
HeadYaw: {p: 500.0, i: 1000.0, d: 0.01} HeadYaw: {p: 1000.0, i: 100.0, d: 1.0}
HeadPitch: {p: 500.0, i: 1000.0, d: 0.01} HeadPitch: {p: 1000.0, i: 100.0, d: 1.0}
LShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01} LShoulderPitch: {p: 100.0, i: 10.0, d: 2.0}
LElbowYaw: {p: 500.0, i: 1000.0, d: 0.01} LElbowYaw: {p: 1000.0, i: 100.0, d: 1.0}
LElbowRoll: {p: 500.0, i: 1000.0, d: 0.01} LElbowRoll: {p: 1000.0, i: 100.0, d: 1.0}
LShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01} LShoulderRoll: {p: 100.0, i: 10.0, d: 1.0}
LWristYaw: {p: 500.0, i: 1000.0, d: 0.01} LWristYaw: {p: 100.0, i: 100.0, d: 1.0}
LHand: {p: 500.0, i: 1000.0, d: 0.01} LHand: {p: 100.0, i: 100.0, d: 3.0}
RShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01} RShoulderPitch: {p: 100.0, i: 10.0, d: 2.0}
RElbowYaw: {p: 500.0, i: 1000.0, d: 0.01} RElbowYaw: {p: 500.0, i: 100.0, d: 1.0}
RElbowRoll: {p: 500.0, i: 1000.0, d: 0.01} RElbowRoll: {p: 500.0, i: 100.0, d: 1.0}
RShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01} RShoulderRoll: {p: 100.0, i: 10.0, d: 1.0}
RWristYaw: {p: 500.0, i: 1000.0, d: 0.01} RWristYaw: {p: 100.0, i: 0.0, d: 1.0}
RHand: {p: 500.0, i: 1000.0, d: 0.01} RHand: {p: 100.0, i: 100.0, d: 3.0}
LHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01} LHipYawPitch: {p: 500.0, i: 0.0, d: 0.1}
LHipRoll: {p: 500.0, i: 1000.0, d: 0.01} LHipRoll: {p: 500.0, i: 0.0, d: 0.1}
LHipPitch: {p: 500.0, i: 1000.0, d: 0.01} LHipPitch: {p: 500.0, i: 0.0, d: 0.1}
LKneePitch: {p: 500.0, i: 1000.0, d: 0.01} LKneePitch: {p: 500.0, i: 0.0, d: 0.1}
LAnklePitch: {p: 500.0, i: 1000.0, d: 0.01} LAnklePitch: {p: 500.0, i: 0.0, d: 0.1}
LAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01} LAnkleRoll: {p: 500.0, i: 0.0, d: 0.1}
RHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01} RHipYawPitch: {p: 500.0, i: 0.0, d: 0.1}
RHipRoll: {p: 500.0, i: 1000.0, d: 0.01} RHipRoll: {p: 500.0, i: 0.0, d: 0.1}
RHipPitch: {p: 500.0, i: 1000.0, d: 0.01} RHipPitch: {p: 500.0, i: 0.0, d: 0.1}
RKneePitch: {p: 500.0, i: 1000.0, d: 0.01} RKneePitch: {p: 500.0, i: 0.0, d: 0.1}
RAnklePitch: {p: 500.0, i: 1000.0, d: 0.01} RAnklePitch: {p: 500.0, i: 0.0, d: 0.1}
RAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01} RAnkleRoll: {p: 500.0, i: 0.0, d: 0.1}