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>
31 lines
1.0 KiB
XML
31 lines
1.0 KiB
XML
<?xml version="1.0"?>
|
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
<package format="3">
|
|
<name>saltybot_pid_autotune</name>
|
|
<version>0.1.0</version>
|
|
<description>
|
|
PID auto-tuner for SaltyBot using Astrom-Hagglund relay feedback method.
|
|
Service-triggered relay oscillation measures ultimate gain (Ku) and ultimate
|
|
period (Tu), then computes Ziegler-Nichols PD gains. Safety abort on >25deg tilt.
|
|
</description>
|
|
<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
|
|
<license>MIT</license>
|
|
|
|
<depend>rclpy</depend>
|
|
<depend>geometry_msgs</depend>
|
|
<depend>sensor_msgs</depend>
|
|
<depend>std_msgs</depend>
|
|
<depend>std_srvs</depend>
|
|
|
|
<buildtool_depend>ament_python</buildtool_depend>
|
|
|
|
<test_depend>ament_copyright</test_depend>
|
|
<test_depend>ament_flake8</test_depend>
|
|
<test_depend>ament_pep257</test_depend>
|
|
<test_depend>python3-pytest</test_depend>
|
|
|
|
<export>
|
|
<build_type>ament_python</build_type>
|
|
</export>
|
|
</package>
|