From ba8cb83ad851551b988f644f003853e15aa63da1 Mon Sep 17 00:00:00 2001 From: HPCLOL <141229735+HPCLOL@users.noreply.github.com> Date: Thu, 20 Jun 2024 17:19:47 +0800 Subject: [PATCH] The name of the pid-control-joints command interfa (#343) ce was changed from position_PID/velocity_PID to position_pid/velocity_pid (cherry picked from commit f6bf9ce48acacd5f4237a0a65abf81cbe4b2923a) --- doc/index.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/doc/index.rst b/doc/index.rst index 9f82a68..09d9254 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -143,13 +143,13 @@ Using PID control joints To use PID control joints in gazebo_ros2_control, you should define their parameters inside the ```` tag within the ```` tag. These PID joints can be controlled either in position or velocity. -- To control a joint with velocity PID, simply set its ``command_interface`` to ``velocity_PID``. -- To control a joint with position PID, set its ``command_interface`` to ``position_PID``. +- To control a joint with velocity PID, simply set its ``command_interface`` to ``velocity_pid``. +- To control a joint with position PID, set its ``command_interface`` to ``position_pid``. .. note:: - You cannot have both command interfaces set to position and position_PID for the same joint. The same restriction applies to velocity (and velocity_PID). + You cannot have both command interfaces set to position and position_pid for the same joint. The same restriction applies to velocity (and velocity_pid). -To create a system with one joint that can be controlled using both position_PID and velocity_PID, follow this example: +To create a system with one joint that can be controlled using both position_pid and velocity_pid, follow this example: .. code-block:: xml @@ -169,8 +169,8 @@ To create a system with one joint that can be controlled using both position_PID 2 10000 - - + + 1.0