If you mean the full path of the parameters on the parameter server, the ``Pid`` class doesn't know those before hand (it is passed a nodehandle at initialization).

If you mean we should name the gains "p", "i", and "d" - I tried that and wasted a lot of time debugging why it wasn't working. There is a bug that disallows you to name a dynamic reconfigure parameter "i" https://github.com/ros/dynamic_reconfigure/issues/6

I documented the issue on the [tutorial](http://ros.org/wiki/dynamic_reconfigure/Tutorials/HowToWriteYourFirstCfgFile) in the red box.