source: trunk/extremum_seeking/esc_perturb/launch/perturb_esc_nd.launch @ 5

Last change on this file since 5 was 5, checked in by wcaarls, 12 years ago

Imported extremum_seeking at revision 987

File size: 629 bytes
Line 
1<launch>
2  <!-- Perturbation based ESC Node -->
3        <node name="perturb_esc" pkg="esc_perturb" type="esc" output="screen">
4                <param name="sin_amp" type="double" value="0.03" />
5                <param name="sin_freq" type="double" value="5" />
6                <param name="corr_gain" type="double" value="-500" />
7                <param name="high_pass_pole" type="double" value="5" />
8                <param name="low_pass_pole" type="double" value="1" />
9                <param name="comp_pole" type="double" value="700" />
10                <param name="comp_zero" type="double" value="40" />
11                <param name="monitor" type="bool" value="true" />
12                <param name="period" type="double" value="0.01" />
13        </node>
14</launch>
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