<commit_before><launch>
    <node name="controller" pkg="pid" type="controller" ns="left_wheel" output="screen" >
      <param name="node_name" value="left_wheel_pid" />
      <param name="Kp" value="5.0" />
      <param name="Ki" value="0.0" />
      <param name="Kd" value="0.1" />
      <param name="upper_limit" value="200" />
      <param name="lower_limit" value="-200" />
      <param name="windup_limit" value="200" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_left" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="right_wheel" output="screen" >
      <param name="node_name" value="right_wheel_pid" />
      <param name="Kp" value="5.0" />
      <param name="Ki" value="0.0" />
      <param name="Kd" value="0.1" />
      <param name="upper_limit" value="200" />
      <param name="lower_limit" value="-200" />
      <param name="windup_limit" value="200" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_right" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="front_wheel" output="screen" >
      <param name="node_name" value="front_wheel_pid" />
      <param name="Kp" value="5.0" />
      <param name="Ki" value="0.0" />
      <param name="Kd" value="0.1" />
      <param name="upper_limit" value="200" />
      <param name="lower_limit" value="-200" />
      <param name="windup_limit" value="200" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_front" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="back_wheel" output="screen" >
      <param name="node_name" value="back_wheel_pid" />
      <param name="Kp" value="5.0" />
      <param name="Ki" value="0.0" />
      <param name="Kd" value="0.1" />
      <param name="upper_limit" value="200" />
      <param name="lower_limit" value="-200" />
      <param name="windup_limit" value="200" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_back" />
     </node>

     <node pkg="hermesIII" type="send_velocity.py" name="send_velocity" output="screen"/>

     <node pkg="hermesIII" type="PID_general.py" name="PID_general" output="screen"/>

   <!-- rqt_plot is a resource hog, so if you're seeing high CPU usage, don't launch rqt_plot  -->
    <node name="rqt_plot" pkg="rqt_plot" type="rqt_plot"
    args="/left_wheel/control_effort/data /left_wheel/state/data /setpoint_left/data
    /right_wheel/control_effort/data /right_wheel/state/data /setpoint_right/data
    /front_wheel/control_effort/data /front_wheel/state/data /setpoint_front/data
    /back_wheel/control_effort/data /back_wheel/state/data /setpoint_back/data" />

    <node name="rqt_robot_monitor" pkg="rqt_robot_monitor" type="rqt_robot_monitor" />
    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
</launch><commit_msg>PID Launch<commit_after><launch>
    <node name="controller" pkg="pid" type="controller" ns="left_wheel" output="screen" >
      <param name="node_name" value="left_wheel_pid" />
      <param name="Kp" value="10.0" />
      <param name="Ki" value="0" />
      <param name="Kd" value="0" />
      <param name="upper_limit" value="60" />
      <param name="lower_limit" value="-60" />
      <param name="windup_limit" value="60" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_left" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="right_wheel" output="screen" >
      <param name="node_name" value="right_wheel_pid" />
      <param name="Kp" value="10.0" />
      <param name="Ki" value="0" />
      <param name="Kd" value="0" />
      <param name="upper_limit" value="60" />
      <param name="lower_limit" value="-60" />
      <param name="windup_limit" value="60" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_right" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="front_wheel" output="screen" >
      <param name="node_name" value="front_wheel_pid" />
      <param name="Kp" value="10.0" />
      <param name="Ki" value="0" />
      <param name="Kd" value="0" />
      <param name="upper_limit" value="60" />
      <param name="lower_limit" value="-60" />
      <param name="windup_limit" value="60" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_front" />
     </node>

     <node name="controller" pkg="pid" type="controller" ns="back_wheel" output="screen" >
      <param name="node_name" value="back_wheel_pid" />
      <param name="Kp" value="10.0" />
      <param name="Ki" value="0" />
      <param name="Kd" value="0" />
      <param name="upper_limit" value="60" />
      <param name="lower_limit" value="-60" />
      <param name="windup_limit" value="60" />
      <param name="diagnostic_period" value="0.25" />
      <param name="max_loop_frequency" value="10.0" />
      <param name="min_loop_frequency" value="10.0" />
      <remap from="setpoint" to="/setpoint_back" />
     </node> 

     <node pkg="hermesIII" type="send_velocity.py" name="send_velocity" output="screen"/>

     <node pkg="hermesIII" type="PID_general.py" name="PID_general" output="screen"/>

   <!-- rqt_plot is a resource hog, so if you're seeing high CPU usage, don't launch rqt_plot  -->
    <!--<node name="rqt_plot" pkg="rqt_plot" type="rqt_plot"
    args="/left_wheel/control_effort/data /left_wheel/state/data /setpoint_left/data
    /right_wheel/control_effort/data /right_wheel/state/data /setpoint_right/data
    /front_wheel/control_effort/data /front_wheel/state/data /setpoint_front/data
    /back_wheel/control_effort/data /back_wheel/state/data /setpoint_back/data" /> -->


    <node name="rqt_robot_monitor" pkg="rqt_robot_monitor" type="rqt_robot_monitor" />
    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
</launch>
{'fraction_non_alphanumeric': 0.18446886446886446, 'fraction_numerical': 0.025787545787545788, 'mean_word_length': 3.6152805949966194, 'pattern_counts': {'":': 0, '<': 124, '<?xml version=': 0, '>': 124, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '795704', 'n_tokens_mistral': 2465, 'n_tokens_neox': 2338, 'n_words': 422}