From 98e91d59905a7bddbc272968012edf8d97f0d805 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Thu, 5 Sep 2024 18:50:55 +0200 Subject: [PATCH] update the docs of the demos section --- doc/index.rst | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/doc/index.rst b/doc/index.rst index 9fd2783..182a415 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -185,23 +185,14 @@ Where the parameters are as follows: The same definitions apply to the ``vel_*`` parameters. -The PID parameters can be defined for ``position`` or ``position_pid`` and ``velocity`` or ``velocity_pid`` command interfaces as explained above, or definiting them in a yaml file and loading it in the ``gazebo_ros2_control`` plugin as below: +The PID parameters can be defined for ``position`` or ``position_pid`` and ``velocity`` or ``velocity_pid`` command interfaces as explained above, or defining them in a yaml file and loading it in the ``gazebo_ros2_control`` plugin as below: .. code-block:: yaml gazebo_ros2_control: ros__parameters: pid_gains: - position: - slider_to_cart: {kp: 100.0, kd: 10.0, ki: 1.0, max_integral_error: 10000.0} - - -.. code-block:: yaml - - gazebo_ros2_control: - ros__parameters: - pid_gains: - position_pid: + position_pid: # (or) position slider_to_cart: {kp: 100.0, kd: 10.0, ki: 1.0, max_integral_error: 10000.0} .. code-block:: xml @@ -419,6 +410,7 @@ The following examples shows a vertical cart control by a PID joint using positi .. code-block:: shell + ros2 launch gazebo_ros2_control_demos vertical_cart_example_position_pids_in_yaml.launch.py ros2 launch gazebo_ros2_control_demos vertical_cart_example_position_pid.launch.py ros2 launch gazebo_ros2_control_demos vertical_cart_example_velocity_pid.launch.py @@ -426,3 +418,13 @@ The following examples shows a vertical cart control by a PID joint using positi ros2 run gazebo_ros2_control_demos example_position_pid ros2 run gazebo_ros2_control_demos example_velocity + +The ``vertical_cart_example_position_pids_in_yaml.launch.py`` example uses a yaml file as following to set the PID gains: + +.. code-block:: yaml + + gazebo_ros2_control: + ros__parameters: + pid_gains: + position: + slider_to_cart: {kp: 100.0, kd: 10.0, ki: 1.0, max_integral_error: 10000.0} \ No newline at end of file