40 lines
1.6 KiB
Text
40 lines
1.6 KiB
Text
|
<launch>
|
||
|
|
<arg name="input" default="input"/>
|
||
|
|
<arg name="output" default="output"/>
|
||
|
|
<arg name="measure" default="measure"/>
|
||
|
|
<arg name="reset" default="reset"/>
|
||
|
|
<node name="input" pkg="detect_targets" type="control_compute.py" args="input">
|
||
|
|
<remap from="input" to="$(arg input)" />
|
||
|
|
<remap from="output" to="set_point"/>
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
<node name="diff" pkg="detect_targets" type="control_compute.py" args="differenciate">
|
||
|
|
<remap from="input" to="set_point"/>
|
||
|
|
<remap from="output" to="epsilon"/>
|
||
|
|
<remap from="measure" to="$(arg measure)" />
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
<node name="P" pkg="detect_targets" type="control_compute.py" args="proportional">
|
||
|
|
<remap from="input" to="epsilon"/>
|
||
|
|
<remap from="output" to="p_out"/>
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
<node name="I" pkg="detect_targets" type="control_compute.py" args="integral">
|
||
|
|
<remap from="input" to="epsilon"/>
|
||
|
|
<remap from="output" to="i_out"/>
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
<node name="D" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
|
||
|
|
<remap from="input" to="epsilon"/>
|
||
|
|
<remap from="output" to="d_out"/>
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
<node name="sum" pkg="detect_targets" type="control_compute.py" args="sum 3" output="screen">
|
||
|
|
<remap to="p_out" from="input_0" />
|
||
|
|
<remap to="i_out" from="input_1" />
|
||
|
|
<remap to="d_out" from="input_2" />
|
||
|
|
<remap from="output" to="$(arg output)" />
|
||
|
|
<remap from="reset" to="$(arg reset)" />
|
||
|
|
</node>
|
||
|
|
</launch>
|