sl-controls
fd7eddd44d
Implements PID auto-tuning ROS2 node using relay feedback (Astrom-Hagglund) method. Service-triggered relay oscillation measures ultimate gain (Ku) and ultimate period (Tu), then computes Ziegler-Nichols PD gains. Safety abort on >25deg tilt. Features: - Service /saltybot/autotune_pid (std_srvs/Trigger) starts tuning - Relay oscillation method for accurate gain measurement - Measures Ku (ultimate gain) and Tu (ultimate period) - Computes Z-N PD gains: Kp=0.6*Ku, Kd=0.075*Ku*Tu - Real-time safety abort >25° tilt angle - JSON telemetry on /saltybot/autotune_info - Relay commands on /saltybot/autotune_cmd_vel Tuning Process: 1. Settle phase: zero command, allow oscillations to die 2. Relay oscillation: apply +/-relay_magnitude commands 3. Measure peaks: detect zero crossings, record extrema 4. Analysis: calculate Ku from peak amplitude, Tu from period 5. Gain computation: Ziegler-Nichols formulas 6. Publish results: Ku, Tu, Kp, Kd Safety Features: - IMU tilt monitoring (abort >25°) - Max tuning duration timeout - Configurable settle time and oscillation cycles Published Topics: - /saltybot/autotune_info (std_msgs/String) - JSON with Ku, Tu, Kp, Kd - /saltybot/autotune_cmd_vel (geometry_msgs/Twist) - Relay control Subscribed Topics: - /imu/data (sensor_msgs/Imu) - IMU tilt safety check - /saltybot/balance_feedback (std_msgs/Float32) - Balance feedback Package: saltybot_pid_autotune Entry point: pid_autotune_node Service: /saltybot/autotune_pid Tests: 20+ unit tests covering: - IMU tilt extraction - Relay oscillation analysis - Ku/Tu measurement - Ziegler-Nichols gain computation - Peak detection and averaging - Safety limits (tilt, timeout) - State machine transitions - JSON telemetry format Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
30 lines
909 B
Python
30 lines
909 B
Python
from setuptools import setup
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package_name = "saltybot_pid_autotune"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/pid_autotune.launch.py"]),
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(f"share/{package_name}/config", ["config/autotune_config.yaml"]),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description=(
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"PID auto-tuner: Astrom-Hagglund relay oscillation with Ziegler-Nichols gains"
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),
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"pid_autotune_node = saltybot_pid_autotune.pid_autotune_node:main",
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],
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},
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)
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