1. ROS service PID debugging;

First look at the code content.

ub@ub:~/omniWheelCareRobot/rosCode/src/ros_arduino_bridge/ros_arduino_python/config$ cat my_arduino_params.yaml

as follows:

# For a direct USB cable connection, the port name is typically
# /dev/ttyACM# where is # is a number such as 0, 1, 2, etc
# For a wireless connection like XBee, the port is typically
# /dev/ttyUSB# where # is a number such as 0, 1, 2, etc.

port: /dev/ttyACM0
baud: 57600
timeout: 0.5

rate: 20
sensorstate_rate: 10

use_base_controller: True
base_controller_rate: 12
base_controller_timeout: 0.7


# For a robot that uses base_footprint, change base_frame to base_footprint
base_frame: base_footprint

# === Robot drivetrain parameters
wheel_diameter: 0.059
wheel_track: 0.164     # L value
encoder_resolution: 16 #ASLONG JGB37-545B 12V DC motors
gear_reduction: 90 
motors_reversed: True
debugPID: True
linear_scale_correction: 0.960379 
angular_scale_correction: 1.00

# === PID parameters
accel_limit: 0.05

AWheel_Kp: 10
AWheel_Kd: 12
AWheel_Ki: 0
AWheel_Ko: 50

BWheel_Kp: 12
BWheel_Kd: 15
BWheel_Ki: 0
BWheel_Ko: 50

CWheel_Kp: 12
CWheel_Kd: 15
CWheel_Ki: 0
CWheel_Ko: 50

# === Sensor definitions.  Examples only - edit for your robot.
#     Sensor type can be one of the follow (case sensitive!):
#         * GP2D12
#         * Analog
#         * Digital
sensors: {
    
    
  #antiDropIR_front: {
      
      pin: 22, type: Digital, rate: 5, direction: input},
}

debugPID:
Change False to True;
now you can debug PID.