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Last change
on this file was
13,
checked in by wcaarls, 12 years ago
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Updated extremum_seeking to revision 1017
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File size:
733 bytes
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| Rev | Line | |
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| [13] | 1 | <launch> |
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| 2 | <!-- Sliding mode ESC Node (1D) --> |
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| 3 | <node name="sm_esc_1d" pkg="esc_sm" type="esc_1d" output="screen"> |
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| 4 | <param name="rho" type="double" value="0.01" /> |
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| 5 | <param name="k" type="double" value="0.002" /> |
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| 6 | <param name="alpha" type="double" value="0.1" /> |
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| 7 | <param name="period" type="double" value="0.01" /> |
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| 8 | <param name="monitor" type="bool" value="true" /> |
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| 9 | |
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| 10 | <remap from="/sm_esc_1d/obj_val" to="/esc_test/obj_val"/> |
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| 11 | <remap from="/sm_esc_1d/vel_ref" to="/esc_test/vel_ref"/> |
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| 12 | </node> |
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| 13 | |
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| 14 | <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/> |
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| 15 | |
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| 16 | <node name="plot" pkg="rxtools" type="rxplot" output="screen" args="/esc_test/obj_val/data /esc_test/vel_ref/data[0] /esc_test/esc_in/state[0]"/> |
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| 17 | </launch> |
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| 18 | |
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