control_toolbox

See ros_control and control_toolbox documentation on ros.org

Build Status (Melodic & Noetic)

Publication

If you find this work useful please give credits to the authors by citing:

• S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodríguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Lüdtke and E. Fernandez Perdomo "ros_control: A generic and simple control framework for ROS", The Journal of Open Source Software, 2017. (PDF)

@article{ros_control,
author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodr{\'i}guez Tsouroukdissian, Adolfo  and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and L{\"u}dtke, Mathias and Fern{\'a}ndez Perdomo, Enrique},
title = {ros\_control: A generic and simple control framework for ROS},
journal = {The Journal of Open Source Software},
year = {2017},
doi = {10.21105/joss.00456},
URL = {http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf}
}

Changelog for package control_toolbox

1.19.0 (2022-05-10)

• Switch to std::bind
• Increased integral gains & windup limits from +-1000 to +-100000
• Update README build status badge
• Remove Travis CI config
• Add GH actions CI workflow
• Update include/control_toolbox/pid.h
• code review fixes

• Allow smoother resets 1. Currently after a reset (or init), since p_error_last is_ set to 0, the first computeCommand is calculating a false large derivative error. Proposed fix: only calculate error_dot if p_error_last_ contains a real value. The PR leaves reset() behavior untouched, and provides an additional reset function that allows setting the initial values for d_error and i_error 2. Allow setting initial i_error. This allows PID to be used in a smoother manner in systems switching from manual to automatic modes. See: http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/

  1. Improve cases where dt==0 or invalid errors were given (return last cmd_ instead of 0)

• Contributors: Jochen Sprickerhof, Koby Aizer, Matt Reynolds, Steve Golton, Bence Magyar

1.18.2 (2020-06-04)

• Python 3 compat part II
• Contributors: Tobias Fischer

1.18.1 (2020-06-01)

• Python 3 compat
• Migrate to new industrial_ci
• Contributors: Matt Reynolds, Tobias Fischer

1.18.0 (2020-03-27)

• Bump CMake version to avoid CMP0048 warning
• add static method to generate non-deterministic seed
• migrate to STL random library
• Contributors: James Xu, Shane Loretz, ahcorde

1.17.0 (2019-01-31)

• update anti windup clamping
• update negativeIntegrationAntiwindupTest
• Address catkin_lint issues
• Add executable flag
• convert to package xml format 2
• Remove doc header
• Contributors: Bence Magyar, Cong, Gennaro Raiola

1.16.0 (2017-11-30)

• switched to industrial_ci
• Add control_msgs to CATKIN_DEPENDS.
• Contributors: Bence Magyar, Mathias Luedtke, Mike Purvis

1.15.0 (2016-06-28)

• avoid ABI breaks in PID class
• fix add_dependencies call
• rollback API changes in PID class
• cfg: removed rosbuild support related error handling
• Contributors: Bence Magyar, Igor Napolskikh, ipa-mig

1.14.0 (2016-05-03)

• Fix negative gains issue and add tests; update gains setting through DynamicReconfig
• Add antiwindup and tests to PID controller; rename old behaviour \'clamping\'
• Move message to control_toolbox
• Add optional state publishing to PID controller, for logging/debugging/etc
• Fix some typos in comments
• changed the range of dynamic reconfigure to allow negative ones
• Address -Wunused-parameter warnings
• Factor out updatePid as negative calls to computeCommand
• Increasing covergae of PID class test suite.
• Chain calls of computeCommand and updatePid for code reuse
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Carlos Rosales, Guillaume Walck, Paul Bovbel, VahidAminZ

1.13.2 (2015-05-22)

• CRITICAL BUGFIX: Fix broken PID command computation.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Bovbel

1.13.1 (2015-04-30)

• Improvement in integral contribution implementation. Resolve #32.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Carlos Rosales

1.13.0 (2014-10-31)

• Harmonize pid gain names between rosparam and dynamic_reconfigure
• Read i_clamp_min and i_clamp_max form parameter server - if available
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, ipa-fxm

1.12.1 (2014-06-12)

• Remove broken test code. Hotfix for #18.
• Contributors: Adolfo Rodriguez Tsouroukdissian

1.12.0 (2014-06-12)

• pid: Adding quiet flag to suppress error message
• Contributors: Jonathan Bohren

1.11.0 (2014-05-12)

• Remove rosbuild artifacts
• Cleaned up CMake and removed unnecessary dependencies
• Made default value negative to match valid range
• Fix for i_clamp_min to be negative in dynamic reconfigure
• Fix abs/fabs problem with Clang and libc++
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Marco Esposito

1.10.4 (2014-02-05)

• Added Travis support
• Renamed manifest.xml so it doesn\'t break rosdep
• Expanded range of PID and windup gains for certain applications.
• Expanded range of PID and windup gains for certain applications. Lowered default integral and derivative gain
• check for CATKIN_ENABLE_TESTING
• Add some comments to Parameters.cfg
• Add support for dynamic_reconfigure for rosbuild
• Contributors: Austin Hendrix, Dave Coleman, Lukas Bulwahn, Paul Dinh

1.10.3 (2013-08-02)

• Fix bug in copy constructor.
• Contributors: Austin Hendrix

1.10.2 (2013-07-29)

• Fix copy constructor.
• Merge pull request #1 from davetcoleman/hydro-devel Added dynamic reconfigure for PID gains
• Removed const getGains function
• Small fixes
• Compatibility changes for realtime_tools, tweaked getests
• Made realtime_buffer copiable
• Added test for getting/settings gains, copying/assigning pid class
• Removed const read, added copy constructor and print values function
• Added new function getGainsConst that allows one to get the PID gains from a const PID class
• Added realtime_tools as a dependency in package.xml and CMakeLists
• Added realtime buffer to PID, re-ordered functions to more logical order and to match header file
• Fixes per Austin review
• Updated CMakeLists.txt and made fixes per Adolfo
• Merged hydro-devel
• Added dynamic reconfigure for PID gains
• Tests build.
• Contributors: Austin Hendrix, Dave Coleman

1.10.1 (2013-06-26)

• Add dependency on tinyxml.
• Contributors: Austin Hendrix

1.10.0 (2013-06-25)

• Version 1.10.0
• comment format consistentcy
• Fixing comment in pid source code
• Install tune_pid.py under catkin.
• adding install targets
• adding missing manifests
• merging CMakeLists.txt files from rosbuild and catkin
• adding hybrid-buildsystem makefiles
• Merging from master, re-adding manifest.xml files
• using more standard way of depending on gencpp
• Add .gitignore file.
• Fixing library export
• catkinizing, could still be cleaned up
• Fixing doc errors in PID
• Changing @ commands to commands
• Enforcing i_min <= 0 and i_max >= 0 in integral bound parameters, reducing duplicated code
• Merge pull request #14 from bobholmberg/fix-PID-unbounded-i_error Using zero i_gain to turn off integral control did unsavory things.
• Adding alternative name for new pid command computation API
• Fixing merge error
• Merge branch \'fix-pid-backwards-compatibility\' into fix-PID-unbounded-i_error
• Removing lie from documentation
• Adding Bob\'s fixes to the backwards-compatibility API
• Merge branch \'fix-pid-backwards-compatibility\' into fix-PID-unbounded-i_error
• bringing back old updatePid function contents
• adding documentation warning
• This makes the internal computations of updatePid() keep the same sign that they did before the API change
• Merge typo
• Resolving conflict from new Pid API
• Merge branch \'master\' into test-bad-integral-bounds
• Merge branch \'test-bad-integral-bounds\' into fix-PID-unbounded-i_error
• Specifying div-by-zero test, adding other integral term tests
• Merge branch \'test-bad-integral-bounds\' into fix-PID-unbounded-i_error
• Adding test to expose Pid class zero-division vulnerability
• If the user did not want integral control and set i_gain to zero, then dividing by i_gain would set i_error to NaN. This is not desired. Instead, replace the use of division to create i_term with direct integration of i_term. Replace private member i_error with i_term. In getCurrentPIDErrors() create & return i_error with the same old meaning and units. NOTE: i_error is not needed internally anywhere else.
• Cleaning up documentation, making argument names in function declaration match those in the implementation
• adding doxygen deprecation flags
• Fixing documentation
• Merging changes from other branch
• Adding conventional PID computation
• Fixing inconsistent formatting, and reducing some duplicated code
• remove .svn folder
• move control_toolbox into ros_control
• Contributors: Adolfo Rodriguez Tsouroukdissian, Austin Hendrix, Bob Holmberg, Jonathan Bohren, Wim Meeussen, wmeeusse