src pid folder

src/pid/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pid
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.28 (2020-07-03)
+-------------------
+* Fix compatibility issues when building with ROS Noetic
+* Bug fix for angle wrapping always resetting filtered and integral error
+* Adding a parameter setpoint_timeout which specifies whether to keep publishing control_effort messages after setpoint messages stop coming in
+* Add link to low-pass filter reference
+* Cleaning up package.xml just a bit more.
+* Removing a bunch of superfluous dependencies.
+* Cleaning CMakeLists.
+* Upgrade to package format=2
+* Contributors: Andrew J Zelenak, AndyZe, Stewart Jamieson, Vikrant Shah
+
+0.0.15 (2016-02-22)
+-------------------
+* Fixing header "include" error, possible dynamic_reconfigure errors.
+* Contributors: Andy Zelenak
+
+0.0.10 (2016-1-25)
+------------------
+* Add diagnostics running at 4Hz. Publish interesting data like setpoint, plant state,
+error, control effort in diags for viewing
+* Add ROS private parameters to set Pid params and simulator param
+* Add Auto/Manual mode: Listen to the /pid_enable topic for a std_msgs/Bool
+that will disable or re-enable output from the PID controller
+* Support reverse_acting parameter, for plants where the control input acts
+in the opposite direction to the plant-state. E.g. Differential-drive robots
+often have one direct and one reverse-acting PID
+* Support faster-than-wallclock simulation via a /clock publisher and the
+/use_sim_time parameter
+* Add launch files for first & 2nd order behaviors. Get them to launch plots,
+diag monitor, reconfigure gui
+* Split setpoint generator out into a separate node
+* Rename simulator to plant_sim.cpp & give it 1st & 2nd order behaviors, configured
+with a parameter. 
+* Delete first_order_plant_sim.cpp, which is subsumed into plant_sim.cpp. Remove
+plant header, which was almost content-free.
+* Remove msg directory & switch to using Float64 messages for setpoint,
+process state, & control effort. Now it's generic - no special messages needed.
+* Explicitly call out std namespace to avoid accidental name conflicts
+* Remove parameter length checks to allow parameters to be set in part from
+launch file (the usual way), and in part from cmd line args (an infrequently-used
+way)
+* Rename pid_header.h to controller.h because it's used by controller.cpp - more standard
+C++ naming style
+* Add copyrights
+* Contributors: AndyZe, Paul Bouchier
+
+0.0.9 (2015-12-27)
+------------------
+* Merged in bouchier/pid (pull request #1)
+  Add dynamic reconfigure for Kx, change plant setpoint
+* add dynamic reconfigure for Kx, change plant setpoint
+* Contributors: AndyZe, Paul Bouchier
+
+0.0.7 (2015-07-26)
+------------------
+* Added a launch file, which required the arguments to be processed differently.
+* Contributors: Andy Zelenak
+
+0.0.6 (2015-06-09)
+------------------
+* Changing the way parameters are passed to check_user_input().
+* Contributors: Andy Zelenak
+
+0.0.5 (2015-06-09)
+------------------
+* Adding an anti-windup option.
+* Contributors: Andy Zelenak
+
+0.0.3 (2015-03-14)
+------------------
+
+0.0.2 (2015-03-13)
+------------------
+
+0.0.1 (2015-03-08)
+------------------
+* Fixing various minor bugs related to user input.
+* Pre-release commit.
+* It WORKS!
+* It's talking with the plant sim now. Just the PID programming remains.
+* Making progress with the command line input.
+* Rough outline of the program. Need to take inputs on the command line next.
+* Initial commit
+* Contributors: Andy Zelenak

src/pid/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(pid)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  dynamic_reconfigure
+)
+find_package(Boost REQUIRED COMPONENTS system)
+
+generate_dynamic_reconfigure_options(
+    cfg/Pid.cfg
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+   CATKIN_DEPENDS roscpp std_msgs message_runtime dynamic_reconfigure
+)
+
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
+)
+
+add_executable(controller src/controller.cpp src/pid.cpp)
+add_executable(plant_sim src/plant_sim.cpp)
+add_executable(setpoint_node src/setpoint_node.cpp)
+add_executable(sim_time src/sim_time.cpp)
+add_executable(autotune src/autotune.cpp)
+
+add_dependencies(controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(plant_sim ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(setpoint_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(sim_time ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(autotune ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(controller ${catkin_LIBRARIES})
+target_link_libraries(plant_sim ${catkin_LIBRARIES})
+target_link_libraries(setpoint_node ${catkin_LIBRARIES})
+target_link_libraries(sim_time ${catkin_LIBRARIES})
+target_link_libraries(autotune ${catkin_LIBRARIES})
+
+install(TARGETS controller plant_sim setpoint_node sim_time autotune
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)

src/pid/cfg/Pid.cfg

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+#!/usr/bin/env python
+PACKAGE = "pid"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+K_scale_enum = gen.enum([ gen.const("scale_tenth", double_t, 0.1, "Scale by 0.1"),
+                           gen.const("scale_unity",   double_t, 1.0, "No scaling"),
+                           gen.const("scale_ten",  double_t, 10.0, "Scale by 10"),
+                           gen.const("scale_hundred", double_t, 100.0, "Scale by 100")],
+                           "Scale factor for K setting")
+
+gen.add("Kp_scale", double_t, 0, "Kp scale", 10, 0.1, 100, edit_method = K_scale_enum)
+gen.add("Kp", double_t, 0, "Kp", 0.1, -1, 1)
+gen.add("Ki_scale", double_t, 0, "Ki scale", 10, 0.1, 100, edit_method = K_scale_enum)
+gen.add("Ki", double_t, 0, "Ki", 0.1, -1, 1)
+gen.add("Kd_scale", double_t, 0, "Kd scale", 10, 0.1, 100, edit_method = K_scale_enum)
+gen.add("Kd", double_t, 0, "Kd", 0.1, -1, 1)
+
+exit(gen.generate(PACKAGE, "pid", "Pid"))

src/pid/contributors.txt

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+Andy Zelenak
+Paul Bouchier