Dear Ros Users
I'm going to use ziegler-nichols method to tune PID gains of an simple inverted pendulum model. I'm wondering why my controller whom type is "position_controllers/JointPositionController", is not sensitive to changing PID gains. Even in the case of setting all k_p, k_i and k_d to zero in following YAML configuation file, controller works well as before.
inverted_pendulum:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint1_position_controller:
type: position_controllers/JointPositionController
joint: shoulder_pan_joint
pid: {p: 0.0, i: 0.0, d: 0.0}
And this is the snippets of the urdf model:
transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 1 true true /inverted_pendulum
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