|
Last change
on this file since 17 was
13,
checked in by wcaarls, 12 years ago
|
|
Updated extremum_seeking to revision 1017
|
|
File size:
977 bytes
|
| Line | |
|---|
| 1 | <launch> |
|---|
| 2 | <!-- Perturbation based ESC Node --> |
|---|
| 3 | <node name="perturb_esc" pkg="esc_perturb" type="esc" output="screen"> |
|---|
| 4 | <param name="sin_amp" type="double" value="0.05" /> |
|---|
| 5 | <param name="sin_freq" type="double" value="15" /> |
|---|
| 6 | <param name="corr_gain" type="double" value="-1000" /> |
|---|
| 7 | <param name="high_pass_pole" type="double" value="5" /> |
|---|
| 8 | <param name="low_pass_pole" type="double" value="1" /> |
|---|
| 9 | <param name="comp_pole" type="double" value="700" /> |
|---|
| 10 | <param name="comp_zero" type="double" value="10" /> |
|---|
| 11 | <param name="monitor" type="bool" value="true" /> |
|---|
| 12 | <param name="period" type="double" value="0.01" /> |
|---|
| 13 | |
|---|
| 14 | <remap from="/perturb_esc/esc_in" to="/esc_test/esc_in"/> |
|---|
| 15 | <remap from="/perturb_esc/pos_ref" to="/esc_test/pos_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 /esc_test/pos_ref/data[0] /esc_test/esc_in/state[0]"/> |
|---|
| 21 | </launch> |
|---|
| 22 | |
|---|
Note: See
TracBrowser
for help on using the repository browser.
