source: trunk/extremum_seeking/esc_test/launch/nn_esc_1d.launch @ 47

Last change on this file since 47 was 18, checked in by wcaarls, 12 years ago

Updated extremum_seeking to revision 1177

File size: 1021 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                <param name="stopping_condition/cycle_number" type="int" value="3" />
12                <param name="stopping_condition/min_val_change_per_cycle" type="double" value="0.3" />
13
14                <remap from="/nn_esc_1d/obj_val" to="/esc_test/obj_val"/>
15                <remap from="/nn_esc_1d/vel_ref" to="/esc_test/vel_ref"/>
16        </node>
17
18        <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/>
19
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]"/>
21</launch>
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