Last change
on this file since 14 was
13,
checked in by wcaarls, 12 years ago
|
Updated extremum_seeking to revision 1017
|
File size:
733 bytes
|
Line | |
---|
1 | <launch> |
---|
2 | <!-- Sliding mode ESC Node (1D) --> |
---|
3 | <node name="sm_esc_1d" pkg="esc_sm" type="esc_1d" output="screen"> |
---|
4 | <param name="rho" type="double" value="0.01" /> |
---|
5 | <param name="k" type="double" value="0.002" /> |
---|
6 | <param name="alpha" type="double" value="0.1" /> |
---|
7 | <param name="period" type="double" value="0.01" /> |
---|
8 | <param name="monitor" type="bool" value="true" /> |
---|
9 | |
---|
10 | <remap from="/sm_esc_1d/obj_val" to="/esc_test/obj_val"/> |
---|
11 | <remap from="/sm_esc_1d/vel_ref" to="/esc_test/vel_ref"/> |
---|
12 | </node> |
---|
13 | |
---|
14 | <node name="esc_test" pkg="esc_test" type="esc_test" output="screen"/> |
---|
15 | |
---|
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]"/> |
---|
17 | </launch> |
---|
18 | |
---|
Note: See
TracBrowser
for help on using the repository browser.