From 2f154a8967421a9698a9b0a1d8e3ae718af607f1 Mon Sep 17 00:00:00 2001
From: Franz Pucher <franz.pucher@gmail.com>
Date: Sun, 6 Feb 2022 21:19:04 +0100
Subject: [PATCH] fix robot spawning in world origin using pid gains (#57)

---
 diffbot_control/config/pid.yaml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/diffbot_control/config/pid.yaml b/diffbot_control/config/pid.yaml
index 952eb8a1..5ee9422e 100644
--- a/diffbot_control/config/pid.yaml
+++ b/diffbot_control/config/pid.yaml
@@ -2,6 +2,10 @@ diffbot:
   gazebo_ros_control:
     pid_gains:
       front_right_wheel_joint:
-        {p: 1.5, i: 0, d: 0}
+        p: 0.06
+        i: 0.0
+        d: 0.0
       front_left_wheel_joint:
-        {p: 1.5, i: 0, d: 0}
\ No newline at end of file
+        p: 0.06
+        i: 0.0
+        d: 0.0
\ No newline at end of file