From: Martin Günther <martin.guenther@dfki.de>
Date: Wed, 24 Jan 2018 16:46:21 +0000 (+0100)
Subject: Support all PID gain parameters, dynamic_reconfigure
X-Git-Tag: 0.1.0~10^2
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=dfecacc6e0bf3cc3488d076adfc46ea0cdede014;p=roboticsgroup_upatras_gazebo_plugins.git

Support all PID gain parameters, dynamic_reconfigure

This change does the following:

* the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...)
* a warning will be printed if none of those parameters could be found
* it's possible to adjust the parameters using dynamic_reconfigure
---

diff --git a/src/mimic_joint_plugin.cpp b/src/mimic_joint_plugin.cpp
index 1050624..90a5ba3 100644
--- a/src/mimic_joint_plugin.cpp
+++ b/src/mimic_joint_plugin.cpp
@@ -85,13 +85,7 @@ namespace gazebo {
             has_pid_ = true;
 
             const ros::NodeHandle nh(model_nh, std::string(robot_namespace_ + "/gazebo_ros_control/pid_gains/") + mimic_joint_name_);
-            double p, i, d;
-            // TO-DO: include i_clamp e.t.c.
-            nh.param("p", p, 0.0);
-            nh.param("i", i, 0.0);
-            nh.param("d", d, 0.0);
-
-            pid_ = control_toolbox::Pid(p, i, d);
+            pid_.init(nh);
         }
 
         // Check for multiplier element