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Last change
on this file since 13 was
13,
checked in by wcaarls, 12 years ago
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Updated extremum_seeking to revision 1017
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File size:
868 bytes
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| 1 | <launch> |
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| 2 | <!-- Approximation based ESC Node (1D) --> |
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| 3 | <node name="approx_esc_1d" pkg="esc_approx" type="esc_1d" output="screen"> |
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| 4 | <param name="data_size" type="int" value="10" /> |
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| 5 | <param name="poly_degree" type="int" value="3" /> |
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| 6 | <param name="k_grad" type="double" value="0.001" /> |
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| 7 | <param name="init_vel" type="double" value="0.00001" /> |
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| 8 | <param name="sampling" type="int" value="1" /> |
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| 9 | <param name="monitor" type="bool" value="false" /> |
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| 10 | <param name="period" type="double" value="0.01" /> |
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| 11 | |
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| 12 | <remap from="/approx_esc_1d/esc_in" to="/esc_test/esc_in"/> |
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| 13 | <remap from="/approx_esc_1d/vel_ref" to="/esc_test/vel_ref"/> |
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| 14 | </node> |
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| 15 | |
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| 16 | <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/> |
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| 17 | |
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| 18 | <node name="plot" pkg="rxtools" type="rxplot" output="screen" args="/esc_test/obj_val/data /esc_test/vel_ref/data[0] /esc_test/esc_in/state[0]"/> |
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| 19 | </launch> |
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