Goal position contstraint for trajectory controller
Posted: Sun Jun 14, 2020 7:20 am
For my project I am using Reinforcement Learning for auto-tuning PID gains on a hebi actuator in gazebo.
To increase the influence of the pid control I use control strategy 3 and set all but the position control to 0.
Now when I set the velocity and acceleration limits in the joint_limits.yaml file very high the trajectory controller prematurely "succeeds" the trajectory movement.
I use the ROS JointTrajectoryController, but for normal ROS controllers there is a goal constraint which specifies the goal position tolerance, as seen on the site: http://wiki.ros.org/joint_trajectory_controller .
For the Hebi controllers I can't seem to find such a setting, so my question is how to specify such a constraint for hebi controllers.
Thanks in advance
To increase the influence of the pid control I use control strategy 3 and set all but the position control to 0.
Now when I set the velocity and acceleration limits in the joint_limits.yaml file very high the trajectory controller prematurely "succeeds" the trajectory movement.
I use the ROS JointTrajectoryController, but for normal ROS controllers there is a goal constraint which specifies the goal position tolerance, as seen on the site: http://wiki.ros.org/joint_trajectory_controller .
For the Hebi controllers I can't seem to find such a setting, so my question is how to specify such a constraint for hebi controllers.
Thanks in advance