PID Tuning for new robot model

[23pierre10]

Hi again,
quick question, do you have method to tune the PIDs of the motors in the gazebo simulation for bullet? I implemented a new Xacro for an other robot model and I am having hard times tuning the PID, the robot is too slow or too bouncy and can't keep up with the Rviz model (line skeleton).
Thank you by advance :)
Cheers,
Pierre

[benjamin-tam]

Hi Pierre,

For simpler systems, we don't have a formal method on tuning the PID values apart from hand tuning to get the performance we require. Else, we do system ID of the actual robot to get an accurate model. The accuracy of the URDF would be important.