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Last change
on this file since 6 was
5,
checked in by wcaarls, 12 years ago
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Imported extremum_seeking at revision 987
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File size:
629 bytes
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| 1 | <launch> |
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| 2 | <!-- Perturbation based ESC Node --> |
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| 3 | <node name="perturb_esc" pkg="esc_perturb" type="esc" output="screen"> |
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| 4 | <param name="sin_amp" type="double" value="0.03" /> |
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| 5 | <param name="sin_freq" type="double" value="5" /> |
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| 6 | <param name="corr_gain" type="double" value="-500" /> |
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| 7 | <param name="high_pass_pole" type="double" value="5" /> |
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| 8 | <param name="low_pass_pole" type="double" value="1" /> |
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| 9 | <param name="comp_pole" type="double" value="700" /> |
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| 10 | <param name="comp_zero" type="double" value="40" /> |
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| 11 | <param name="monitor" type="bool" value="true" /> |
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| 12 | <param name="period" type="double" value="0.01" /> |
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| 13 | </node> |
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| 14 | </launch> |
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