PID Tuning GUI for Quadcopters and Differential Drive Robots

A proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively), hence the name.

Prerequisites

• Ubuntu 22.04 LTS
• ROS2 Humble

Installation Instructions

mkdir ~/pid_ws
cd pid_ws
git clone https://github.com/erts-RnD/pid_tune.git -b ros2 src

cd ~/pid_ws
colcon build
source install/setup.bash

To run the Differential Drive PID Tuning GUI, use the following command;

ros2 run pid_tune pid_tune_differential.py 

For Quadcopters, there is two different GUIs for PID Tuning:

1. Button GUI
2. Slider GUI

To launch Quadcopter PID Tuning Button GUI, use the following command:

ros2 launch pid_tune pid_tune_drone.launch.py node_name:=button_ui

To launch Quadcopter PID Tuning Slider GUI, use the following command:

ros2 launch pid_tune pid_tune_drone.launch.py node_name:=slider_ui