Use i_clamp_max/min in UR controllers #1483
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Replace gains.i_clamp with gains.i_clamp_max/min for anti-windup. Enables asymmetric integral limits and matches current names. Symmetric configs (max=+M, min=-M) keep the same behavior.
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@christophfroehlich done! |
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Thank you very much for this! However, I would like to go with #1485 instead. |
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haven't seen this before :) do you want me to wait with the release of ros2_controllers? will you backport yours also to kilted? otherwise this here should go into kilted, cause we haven't branched off yet |
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We also haven't branched off for kilted at the moment, so that's fine. I'll go ahead and close this in favor of #1485 |
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Overview
This PR aligns
ur_controllerswith the currentjoint_trajectory_controllerparameter schema on Rolling by switching the anti-windup clamping from the
symmetric
gains.i_clampto the explicitgains.i_clamp_max/gains.i_clamp_min.This matches how JTC exposes per-joint PID limits and the newer anti-windup
options, while keeping behavior identical when max = +M and min = −M.
What was added/changed in this PR
gains.i_clampwithgains.i_clamp_max/gains.i_clamp_minin the anti-windup mapping.
ur_controllersin line with JTC’s Rolling parameter names andanti-windup configuration.
About tests
The packages compile correctly and have passed the colcon tests.
Related PR's
Final notes
I'm very open to any recommendations to improve this code.