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Last change
on this file was
18,
checked in by wcaarls, 12 years ago
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Updated extremum_seeking to revision 1177
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File size:
1021 bytes
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| 1 | <launch> |
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| 2 | <!-- Neural Network ESC Node (1D) --> |
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| 3 | <node name="nn_esc_1d" pkg="esc_nn" type="esc_1d" output="screen"> |
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| 4 | <param name="A" type="double" value="0.002" /> |
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| 5 | <param name="B" type="double" value="12" /> |
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| 6 | <param name="M" type="double" value="5" /> |
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| 7 | <param name="ddelta" type="double" value="0.05" /> |
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| 8 | <param name="delta" type="double" value="0.1" /> |
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| 9 | <param name="period" type="double" value="0.01" /> |
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| 10 | <param name="monitor" type="bool" value="true" /> |
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| 11 | <param name="stopping_condition/cycle_number" type="int" value="3" /> |
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| 12 | <param name="stopping_condition/min_val_change_per_cycle" type="double" value="0.3" /> |
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| 13 | |
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| 14 | <remap from="/nn_esc_1d/obj_val" to="/esc_test/obj_val"/> |
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| 15 | <remap from="/nn_esc_1d/vel_ref" to="/esc_test/vel_ref"/> |
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| 16 | </node> |
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| 17 | |
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| 18 | <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/> |
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| 19 | |
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| 20 | <node name="plot" pkg="rxtools" type="rxplot" output="screen" args="/esc_test/obj_val/data,/nn_esc_1d/monitor_out/values[0] /esc_test/vel_ref/data[0] /esc_test/esc_in/state[0]"/> |
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| 21 | </launch> |
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