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motion_controller_plugin.yaml
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/**:
ros__parameters:
proportional_limitation: true
position_control:
reset_integral: false
antiwindup_cte: 1.0
alpha: 0.3
kp:
x: 0.4
y: 0.4
z: 0.4
kd:
x: 0.0
y: 0.0
z: 0.0
ki:
x: 0.0001
y: 0.0001
z: 0.0001
speed_control:
reset_integral: false
antiwindup_cte : 1.0
alpha: 0.3
kp:
x: 1.0
y: 1.0
z: 1.0
kd:
x: 0.0
y: 0.0
z: 0.0
ki:
x: 0.0
y: 0.0
z: 0.0
speed_in_a_plane_control:
reset_integral: false
antiwindup_cte: 1.0
alpha: 0.3
height:
kp: 1.0
kd: 0.0
ki: 0.0
speed:
kp:
x: 0.0
y: 0.0
kd:
x: 0.0
y: 0.0
ki:
x: 0.0
y: 0.0
trajectory_control:
reset_integral: false
antiwindup_cte : 1.0
alpha: 0.3
kp:
x: 0.4
y: 0.4
z: 0.4
kd:
x: 0.0001
y: 0.0001
z: 0.0001
ki:
x: 0.0
y: 0.0
z: 0.0
yaw_control:
reset_integral: false
antiwindup_cte : 1.0
alpha: 0.3
kp: 1.0
kd: 0.001
ki: 0.0