PID tuning is a critical process in control theory used to optimize system response. In the context of the ROSRider platform, the primary objective of this tuning is to ensure the robot accurately captures and matches the target velocities commanded by either the ROS Navigation Stack or manual user input. By carefully adjusting the Proportional (P), Integral (I), and Derivative (D) gains, this guide will enable you to achieve precise tracking and efficient control of your robot.
ros2 launch rosrider_node rosrider_node.launch.py
To view a list of parameters for rosrider_node, execute the following command:
ros2 param list /rosrider_node
We’ll modify the LEFT_KP parameter, which controls the proportional gain for the left motor controller.
ros2 param set /rosrider_node LEFT_KP 1.2
Let’s verify the parameter has actually changed:
ros2 param get /rosrider_node LEFT_KP
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