PID tuning is a crucial process in robotics to optimize a system’s response to inputs. By carefully adjusting the proportional (P), integral (I), and derivative (D) gains, engineers can fine-tune the system’s behavior. This document outlines a step-by-step guide to PID tuning using the ROSRider platform. We will leverage the power of RQTreconfigure to dynamically adjust PID parameters and RQTplot to visualize the system’s response in real-time. By following this procedure, you can achieve precise and efficient control of your robot.
To start the ROSRider driver, execute the following command on the robot:
ros2 launch rosrider_node rosrider_node.launch.py
To get a list of parameters for rosrider_node, execute the following command:
ros2 param list /rosrider_node
Next, we’ll modify the kP parameter, which controls the proportional gain for the left motor.
ros2 param set /rosrider_node LEFT_KP 1.2
Let’s verify the parameter change by requesting it from the ROS Parameter Server.
ros2 param get /rosrider_node LEFT_KP
To launch the RQT Reconfigure tool, execute the following command:
ros2 run rqt_reconfigure rqt_reconfigure