|
Last change
on this file since 16 was
13,
checked in by wcaarls, 12 years ago
|
|
Updated extremum_seeking to revision 1017
|
|
File size:
860 bytes
|
| Line | |
|---|
| 1 | <launch> |
|---|
| 2 | <!-- Neural Network ESC Node (1D) --> |
|---|
| 3 | <node name="nn_esc_1d" pkg="esc_nn" type="esc_1d" output="screen"> |
|---|
| 4 | <param name="A" type="double" value="0.002" /> |
|---|
| 5 | <param name="B" type="double" value="12" /> |
|---|
| 6 | <param name="M" type="double" value="5" /> |
|---|
| 7 | <param name="ddelta" type="double" value="0.05" /> |
|---|
| 8 | <param name="delta" type="double" value="0.1" /> |
|---|
| 9 | <param name="period" type="double" value="0.01" /> |
|---|
| 10 | <param name="monitor" type="bool" value="true" /> |
|---|
| 11 | |
|---|
| 12 | <remap from="/nn_esc_1d/obj_val" to="/esc_test/obj_val"/> |
|---|
| 13 | <remap from="/nn_esc_1d/vel_ref" to="/esc_test/vel_ref"/> |
|---|
| 14 | </node> |
|---|
| 15 | |
|---|
| 16 | <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/> |
|---|
| 17 | |
|---|
| 18 | <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]"/> |
|---|
| 19 | </launch> |
|---|
Note: See
TracBrowser
for help on using the repository browser.
