[JTC] Disable use of closed-loop PID adapter if controller is used in open-loop mode.#551
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bmagyar merged 4 commits intoros-controls:masterfrom Apr 4, 2023
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I agree, but let's add that to the doc.
open_loop_control (boolean)
Use controller in open-loop control mode using ignoring the states provided by hardware interface and using last commands as states in the next control step. This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
I did not understand that fully without looking at the code. This is only important for the start point of the interpolation (and now also disabling feedback PIDs -> comment on gains structure).
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I uploaded a proposal for an update to the docs: b-robotized-forks#6 |
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… open-loop mode. (ros-controls#551) (cherry picked from commit 8029a2f)
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As the name says. It is not sensible to close loop using PID adapter if controller should run in the open-loop.