source: trunk/extremum_seeking/esc_test/launch/sm_esc_1d.launch @ 47

Last change on this file since 47 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
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