PID Error Graphs #2328
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PID Error Graphs #2328
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petergarud
approved these changes
Jan 29, 2025
| @@ -95,6 +98,9 @@ class MotionControl { | |||
| rclcpp::Subscription<PlayState::Msg>::SharedPtr play_state_sub_; | |||
| rclcpp::Publisher<MotionSetpoint::Msg>::SharedPtr motion_setpoint_pub_; | |||
| rclcpp::Publisher<RobotState::Msg>::SharedPtr target_state_pub_; | |||
| rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr error_x_pub_; | |||
| rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr error_y_pub_; | |||
| rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr error_heading_pub_; | |||
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Great job! I appreciate your excellent use of ros2 topics
automated style fixes Co-authored-by: Squid5678 <[email protected]>
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| std_msgs::msg::Float64 error_x_msg; | ||
| error_x_msg.data = error.position().x(); | ||
| error_x_pub_->publish(error_x_msg); |
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Check if there are subscribers before publishing. This way, we're not using resources if no one is looking at the graph.
| @@ -74,6 +74,13 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node) | |||
| [this](PlayState::Msg::SharedPtr play_state_msg) { // NOLINT | |||
| play_state_ = rj_convert::convert_from_ros(*play_state_msg).state(); | |||
| }); | |||
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| error_x_pub_ = | |||
| node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_x", 10); | |||
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Let's prepend this name with debug (i.e. "debug/motion_control/pose_error_x"). Same for the below topics.
| @@ -0,0 +1,12 @@ | |||
| Metadata-Version: 2.1 | |||
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Do we need to commit the egg info stuff?
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Description
This PR enables you to view a real-time graph of the PID errors.
Associated / Resolved Issue
https://app.clickup.com/t/86b1vtz2u
Steps to Test
all on one graph, that's fine. If you want to view translational/rotational separately,
then you can repeat this step and open another plot).