|
Last change
on this file since 25 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.
