From d1d8e77297881170a4f4a83584fc031a53ee03e4 Mon Sep 17 00:00:00 2001
From: Vincent Rousseau <vincent.rousseau@irstea.fr>
Date: Tue, 13 Dec 2016 15:50:04 +0100
Subject: [PATCH] Add param to switch to POSITION_PID control method instead of
 POSITION

Uncomment the line to use POSITION_PID
---
 rrbot_control/config/rrbot_control.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/rrbot_control/config/rrbot_control.yaml b/rrbot_control/config/rrbot_control.yaml
index 6ee8b8a..afbb4cf 100644
--- a/rrbot_control/config/rrbot_control.yaml
+++ b/rrbot_control/config/rrbot_control.yaml
@@ -13,3 +13,7 @@ rrbot:
     type: position_controllers/JointPositionController
     joint: joint2
     pid: {p: 100.0, i: 0.01, d: 10.0}
+
+#gazebo_ros_control:
+  #pid_gains:
+    #joint2: {p: 100.0, i: 0.01, d: 10.0}