Patrick Spieler
Patrick Spieler
The issue exists also in foxy (osrf/ros2:nightly docker image).
I see, I wasn't aware that this wasn't standardized. It would be great to have different RMW either interoperate correctly or not at all (drop the message and maybe log...
> What is it used for ? Noise in the measurement can create high spikes when you derive them. > What kind of parameters do we add to it ?...
Using a low-pass on the derivative term is quite common, I think. One of the problems is, that the output saturates quickly if there is (quantization or other) noise on...
> A moving average is essentially a FIR, it is inherently stable and linear phase but it does require both more memory and more computation. More memory, yes, but not...
@froj: implementations that I've seen so far filter the error term input of the derivative term, but not the proportional & integral terms. I'm not sure if the low pass...
BTW since in last year's codebase the pid was not the only place we needed a low-pass filter, it might be a good idea to place it in a filter...