PID Gains are in the file

Course Support ROS Control 101
1

In the section 5.3 after the config file:

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 100

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - id_1
    - id_2
    - id_3
    - id_4
    - id_5
    - id_6
    - id_7
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      id_1: {trajectory: 10.0, goal: 10.0}
      id_2: {trajectory: 10.0, goal: 10.0}
      id_3: {trajectory: 10.0, goal: 10.0}
      id_4: {trajectory: 10.0, goal: 10.0}
      id_5: {trajectory: 10.0, goal: 10.0}
      id_6: {trajectory: 10.0, goal: 10.0}
      id_7: {trajectory: 10.0, goal: 10.0}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10

After that it was stated that:
For the position controllers, define the type of plugin that you will use (in this case, it uses the JointTrajectoryController plugin that accepts position commands as input), the name of the joint that it will control, and the pid gains.
Where are the pid gains that claimed to be configured in the previous config file ?
Is there any mistake here ?

2

Hello @mwk0900.na ,

Yes, this is also a mistake in the notebook. I’ve rewritten this section so that it doesn’t lead to confusion.