Fix position_control_sample.launch

[TakaakiNumai]

Abstract

Specify PID gain in position_control_sample.launch.

How to Reproduce the Bug

Problem due to the Bug

Factors

Suggestion

[Joshua Supratman]

Can you elaborate on this a little bit more?

[TakaakiNumai]

The sample velocity_duty_control_sample.launch has PID gains but position_control_sample.launch doesn't.
Since these are PID-controlled samples, gain adjustment is a must.
It is better to specify gain parameters for position_control_sample.launch.

vesc/vesc_hw_interface/launch/velocity_duty_control_sample.launch

Lines 8 to 25 in 3d5e62e

 <node name="vesc_hw_interface_node" pkg="vesc_hw_interface" type="vesc_hw_interface_node" output="screen"> 
   <rosparam> 
     joint_name: vesc_joint 
     command_mode: velocity_duty 
     joint_type: continuous 
     port: /dev/ttyACM0 
     num_rotor_poles: 20 
     gear_ratio: 0.230769 
     torque_const: 1 
     motor: 
       Kp: 0.1 
       Ki: 1.0 
       Kd: 0.01 
       i_clamp: 0.2 
       duty_limiter: 1.0 
       antiwindup: true 
   </rosparam> 
 </node> 

vesc/vesc_hw_interface/launch/position_control_sample.launch

Lines 8 to 19 in 3d5e62e

 <node name="vesc_hw_interface_node" pkg="vesc_hw_interface" type="vesc_hw_interface_node" output="screen"> 
   <rosparam> 
     joint_name: vesc_joint 
     command_mode: position 
     port: /dev/ttyUSB0 
     num_rotor_poles: 20 
     gear_ratio: 1 
     torque_const: 1 
     servo/calibration_current: 1.0 
     servo/calibration_position: 0.01 
   </rosparam> 
 </node> 

[Joshua Supratman]

Fair enough.
Do you have any recommended values or should we use the default values?