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Last change
on this file since 16 was
13,
checked in by wcaarls, 13 years ago
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Updated extremum_seeking to revision 1017
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File size:
977 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="0.05" /> |
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| 5 | <param name="sin_freq" type="double" value="15" /> |
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| 6 | <param name="corr_gain" type="double" value="-1000" /> |
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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="10" /> |
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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 | |
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| 14 | <remap from="/perturb_esc/esc_in" to="/esc_test/esc_in"/> |
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| 15 | <remap from="/perturb_esc/pos_ref" to="/esc_test/pos_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 /esc_test/pos_ref/data[0] /esc_test/esc_in/state[0]"/> |
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| 21 | </launch> |
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| 22 | |
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