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Added mg_bt

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Pimpest
2025-04-11 12:10:02 +02:00
parent f064bcfc69
commit 2d0f8279c0
15 changed files with 604 additions and 0 deletions
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118
mg_bt/behavior_trees/calib_bt.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="calib_bt">
<Sequence>
<SetBlackboard value="0.31133"
output_key="width"/>
<Delay delay_msec="20000">
<Repeat num_cycles="5">
<Sequence>
<ZeroNode service_name="/zero"/>
<MovePoint action_name="/MovePoint"
tolerance="0.04"
max_angular="0.1"
x_goal="0.7"
y_goal="0.0"/>
<RotateNode angle="2"
action_name="/Rotate"/>
<RotateNode angle="-2"
action_name="/Rotate"/>
<RotateNode angle="0"
action_name="/Rotate"/>
<Fallback>
<Timeout msec="10000">
<MovePoint action_name="/MovePoint"
max_angular="0.1"
x_goal="-0.1"
y_goal="0.0"/>
</Timeout>
<AlwaysSuccess/>
</Fallback>
<CalibWidth PreviousWidth="{width}"
Count="1"
NewWidth="{width}"
service_name="/set_width"/>
</Sequence>
</Repeat>
</Delay>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="CalibWidth">
<input_port name="PreviousWidth"
type="double"/>
<input_port name="Count"
default="1"
type="int"/>
<output_port name="NewWidth"
type="double"/>
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
<Action ID="MovePoint">
<input_port name="action_name"
type="std::string">Action server name</input_port>
<input_port name="tolerance"
type="double"/>
<input_port name="obst_mult_a"
type="double"/>
<input_port name="ornt_mult"
type="double"/>
<input_port name="pos_mult"
type="double"/>
<input_port name="t_ornt_mult"
type="double"/>
<input_port name="obst_mult_c"
type="double"/>
<input_port name="obst_mult_b"
type="double"/>
<input_port name="max_vel"
type="double"/>
<input_port name="max_angular"
type="double"/>
<input_port name="IgnoreList"
type="std::string"/>
<input_port name="max_wheel_speed"
type="double"/>
<input_port name="x_goal"
type="double"/>
<input_port name="y_goal"
type="double"/>
</Action>
<Action ID="RotateNode">
<input_port name="angle"
type="double"/>
<input_port name="pos_mult"
type="double"/>
<input_port name="max_wheel_speed"
type="double"/>
<input_port name="IgnoreList"
type="std::string"/>
<input_port name="max_angular"
type="double"/>
<input_port name="max_vel"
type="double"/>
<input_port name="obst_mult_b"
type="double"/>
<input_port name="obst_mult_c"
type="double"/>
<input_port name="ornt_mult"
type="double"/>
<input_port name="t_ornt_mult"
type="double"/>
<input_port name="obst_mult_a"
type="double"/>
<input_port name="tolerance"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="ZeroNode">
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>

47
mg_bt/behavior_trees/mg_bt.btproj Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4" project_name="Project">
<include path="calib_bt.xml"/>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="CalibWidth">
<input_port name="PreviousWidth" type="double"/>
<input_port name="Count" default="1" type="int"/>
<output_port name="NewWidth" type="double"/>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Action ID="MovePoint">
<input_port name="action_name" type="std::string">Action server name</input_port>
<input_port name="tolerance" type="double"/>
<input_port name="obst_mult_a" type="double"/>
<input_port name="ornt_mult" type="double"/>
<input_port name="pos_mult" type="double"/>
<input_port name="t_ornt_mult" type="double"/>
<input_port name="obst_mult_c" type="double"/>
<input_port name="obst_mult_b" type="double"/>
<input_port name="max_vel" type="double"/>
<input_port name="max_angular" type="double"/>
<input_port name="IgnoreList" type="std::string"/>
<input_port name="max_wheel_speed" type="double"/>
<input_port name="x_goal" type="double"/>
<input_port name="y_goal" type="double"/>
</Action>
<Action ID="RotateNode">
<input_port name="angle" type="double"/>
<input_port name="pos_mult" type="double"/>
<input_port name="max_wheel_speed" type="double"/>
<input_port name="IgnoreList" type="std::string"/>
<input_port name="max_angular" type="double"/>
<input_port name="max_vel" type="double"/>
<input_port name="obst_mult_b" type="double"/>
<input_port name="obst_mult_c" type="double"/>
<input_port name="ornt_mult" type="double"/>
<input_port name="t_ornt_mult" type="double"/>
<input_port name="obst_mult_a" type="double"/>
<input_port name="tolerance" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="ZeroNode">
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>