Balancing the Inverted pendulum
I have (finally) gotten around to getting KIWI to balance in simulation. All in took me about an hour to write up the pid_controller and get it to stay upright. A little longer to nail down twist tracking via a /cmd_vel command. The core logic is remarkably simple, and I think serves as a great showcase of the “power of PID”. In the same way I think that people tend to overlook linear regression for their solutions as it’s not shiny enough, I really think people under-estimate how far a well-tuned PID can get you.