{"action":"created","issue":{"url":"https://api.github.com/repos/PR2/pr2_robot/issues/242","repository_url":"https://api.github.com/repos/PR2/pr2_robot","labels_url":"https://api.github.com/repos/PR2/pr2_robot/issues/242/labels{/name}","comments_url":"https://api.github.com/repos/PR2/pr2_robot/issues/242/comments","events_url":"https://api.github.com/repos/PR2/pr2_robot/issues/242/events","html_url":"https://github.com/PR2/pr2_robot/issues/242","id":136798064,"number":242,"title":"Explicitly set i_clamp_min & i_clamp_max params in default controller_configuration","user":{"login":"pgrice","id":3597187,"avatar_url":"https://avatars.githubusercontent.com/u/3597187?v=3","gravatar_id":"","url":"https://api.github.com/users/pgrice","html_url":"https://github.com/pgrice","followers_url":"https://api.github.com/users/pgrice/followers","following_url":"https://api.github.com/users/pgrice/following{/other_user}","gists_url":"https://api.github.com/users/pgrice/gists{/gist_id}","starred_url":"https://api.github.com/users/pgrice/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pgrice/subscriptions","organizations_url":"https://api.github.com/users/pgrice/orgs","repos_url":"https://api.github.com/users/pgrice/repos","events_url":"https://api.github.com/users/pgrice/events{/privacy}","received_events_url":"https://api.github.com/users/pgrice/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-26T19:56:57Z","updated_at":"2016-02-29T14:12:28Z","closed_at":null,"body":"Currently the default arm controller gain config yaml sets only i_clamp.  When the controller loads these PID gains, it uses +/- i_clamp as i_clamp_min and i_clamp_max, and sets i_clamp_min and i_clamp_max on the parameter server.  \r\n\r\nIf i_clamp is subsequently changed without setting i_clamp_min and i_clamp_max explicitly, the controller loading the PID gains will read the new i_clamp value, but then overwrite min/max with the (not updated) values of i_clamp_min and i_clamp_max still on the parameter server.  The result is a controller running with the incorrect i_clamp_min/max values, which can causes significant changes in behavior and stability...\r\n\r\nIt seems reasonable to me that the default parameter sets should be updated to set i_clamp_min and i_clamp_max explicitly as an example to others.  This should not alter behavior on start up, but those setting different parameters by copying the yaml file will avoid the above issue. "},"comment":{"url":"https://api.github.com/repos/PR2/pr2_robot/issues/comments/190226017","html_url":"https://github.com/PR2/pr2_robot/issues/242#issuecomment-190226017","issue_url":"https://api.github.com/repos/PR2/pr2_robot/issues/242","id":190226017,"user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"created_at":"2016-02-29T14:12:28Z","updated_at":"2016-02-29T14:12:28Z","body":"Ahhhh, that's a small bug. Good catch"}}