Joint_velocity_controller - Receives a velocity input and sends a velocity output, just transferring the input with the forward_command_controller. joint_position_controller - Receives a position input and sends a velocity output, using a PID controller.Velocity_controllers - Command a desired velocity to the HardwareInterface. joint_group_position_controller - Set multiple joint positions at once.Joint_position_controller - Receives a position input and sends a position output, just transferring the input with the forward_command_controller. Position_controllers - Command a desired position to the HardwareInterface. Joint_state_controller - Publishes the state of all resources registered to a hardware_interface:: JointStateInterface to a topic of type sensor_msgs/JointState. You can of course create your own and are not limited to the below list. = ,Ī list of available controller plugins, contained in ros_controllers, as of this writing. The Journal of Open Source Software, 2017. "ros_control: A generic and simple control framework for ROS".If you find this work useful please give credits to the authors by citing: ros_control gets more complicated for physical mechanisms that do not have one-to-one mappings of joint positions, efforts, etc but these scenarios are accounted for using transmissions.Ī high-level overview of the project can be found in the ROScon 2014 talk entitled ros_control: An overview ( slides, video).Ī short summary of CombinedRobotHW can be found in this ROScon 2016 talk.Īdditional documentation is available at the Github Wiki It uses a generic control loop feedback mechanism, typically a PID controller, to control the output, typically effort, sent to your actuators. The ros_control packages takes as input the joint state data from your robot's actuator's encoders and an input set point. Otherwise, I'll need to make a pseudo-PID for it and set up the server to receive.The ros_control packages are a rewrite of the pr2_mechanism packages to make controllers generic to all robots beyond just the PR2.ĭiagram source in ros_control/documentation A potential solution might be to rename the PID to something that falls behind `001_Outdoor Temperature` alphabetically, perhaps `z001_Indoor Temperature` and see if that gets Torque to send the Outdoor "first", ensuring it gets the slot when going to ABRP. Since there are only two piece of data on that one PID, I figured I was safe in not creating a pseudo-PID for them like I did with the others. I'd like to be able to log the indoor temperature to get a feel for how my climate settings impact range when outside temps start falling (like, to -20F or so).Īh, that's a quirk of how Torque formats PIDs for server logging. If I remove `001_Indoor Temperature` from logging output, it (correctly) displays the outdoor temperature again. Temp` field instead of `001_Outdoor Temperature`. All seems fine, except: I noticed today that when I added `001_Indoor Temperature` to Torque's logging output, ABRP's `View Live Data` displays that temperature in the `Ext. I just started using ABRP with a Bluetooth OBD2 dongle and Torque Pro on Android. I don't think the ABRP_Fast_Charging is valid: i do not remember it being anything else than null, even during the charge on Ionity station.Īnd i am not sure about the "Max Deterioration" value either. (speed limits are 130km/h for 200km, 110km/h for maybe 50km then mostly 70km/h) In its logs, the car reported 305km with 194 Wh/km and 294km with 189 Wh/km. I decided to run at top legal speed (130km/h, 134 displayed) and take avantage of my new ChargeNow badge to test Ionity. Weather was fine and there was no winds on both occasion. June 3rd, I charged from ~32% to 95% (displayed) and the Ionity station provided 75kW/h for the first part of the operation. May 31th, i started just below 50% and the car did not used the top speed: in 45 min, SOC was up to 86% or so. The charging data are ok and I attached the logs. However, on this trip i used Ionity chargers for the first time. I blame Samsung on not disabling this feature when the phone is hooked up to the car with an USB cable. I am mortified to say that I am apparently an absent-minded fool who forgot to disable the power saving feature each time. I've recently done a trip from Chatou to Angers and back, so about 2 x 300 km.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |