The ROS interface to the extremum seeking control algorithms uses the following topics:

• esc_in (esc_ros/StateValue)

  • State-value input to control algorithm

• obj_val (std_msgs/Float32)

  • Value input to control algorithm

• vel_ref (std_msgs/Float32MultiArray)

  • Velocity reference

• pos_ref (std_msgs/Float32MultiArray)

  • Position reference

• monitor_out (esc_ros/Monitors)

  • Internal monitor variables