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First set of behaviors

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Pimpest
2025-05-08 12:10:13 +02:00
parent da3d1d9d15
commit bce371dba2
13 changed files with 710 additions and 105 deletions
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91
mg_bt/behavior_trees/mg_bt.btproj
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@ -6,65 +6,86 @@
<TreeNodesModel>
<Action ID="CalibWidth">
<input_port name="PreviousWidth" type="double"/>
<input_port name="Count" type="int" default="1"/>
<input_port name="Count" default="1" type="int"/>
<output_port name="NewWidth" type="double"/>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Action ID="CanChooser">
<output_port name="orient" type="int"/>
<output_port name="y_loc" type="double"/>
<output_port name="x_loc" type="double"/>
<input_port name="canlist" type="std::string"/>
</Action>
<Action ID="I2CSignal">
<input_port name="Address" type="int" default="42"/>
<input_port name="Data" type="int" default="0"/>
<input_port name="Address" default="42" type="int"/>
<input_port name="Data" default="0" type="int"/>
<output_port name="Result" type="int"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="MovePoint">
<input_port name="action_name" type="std::string" default="">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" default=""/>
<input_port name="max_wheel_speed" type="double"/>
<Action ID="LookAtNode">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="max_wheel_speed" default="3.000000" type="double"/>
<input_port name="max_angular" default="3.140000" type="double"/>
<input_port name="tolerance" default="0.001000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="MoveGlobal">
<input_port name="x_goal" type="double"/>
<input_port name="y_goal" type="double"/>
<input_port name="max_wheel_speed" default="6.000000" type="double"/>
<input_port name="max_angular" default="3.140000" type="double"/>
<input_port name="max_vel" default="4.000000" type="double"/>
<input_port name="ornt_mult" default="3.000000" type="double"/>
<input_port name="tolerance" default="0.050000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="MoveLocal">
<input_port name="x_goal" type="double"/>
<input_port name="y_goal" type="double"/>
<input_port name="max_wheel_speed" default="3.000000" type="double"/>
<input_port name="max_angular" default="3.140000" type="double"/>
<input_port name="max_vel" default="2.000000" type="double"/>
<input_port name="pos_mult" default="15.000000" type="double"/>
<input_port name="ornt_mult" default="4.000000" type="double"/>
<input_port name="tolerance" default="0.001000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="MovePoint">
<input_port name="x_goal" type="double"/>
<input_port name="y_goal" type="double"/>
<input_port name="max_wheel_speed" default="3.000000" type="double"/>
<input_port name="max_angular" default="3.140000" type="double"/>
<input_port name="max_vel" default="2.000000" type="double"/>
<input_port name="ornt_mult" default="4.000000" type="double"/>
<input_port name="tolerance" default="0.001000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</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" default=""/>
<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" default="">Action server name</input_port>
<input_port name="max_wheel_speed" default="3.000000" type="double"/>
<input_port name="max_angular" default="3.140000" type="double"/>
<input_port name="tolerance" default="0.001000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="SendPose">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="angle" type="double"/>
<input_port name="isDegree" type="bool" default="true"/>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
<input_port name="isDegree" default="true" type="bool"/>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Condition ID="SideObstaclePub">
<input_port name="tactic" type="int"/>
<input_port name="topic_name" type="std::string" default="__default__placeholder__">Topic name</input_port>
<input_port name="topic_name" default="__default__placeholder__" type="std::string">Topic name</input_port>
</Condition>
<Action ID="TacticChooser">
<output_port name="IsBlue" type="int"/>
<output_port name="IsBlue" type="bool"/>
<output_port name="tactic" type="int"/>
<input_port name="number" type="int"/>
</Action>
<Action ID="ZeroNode">
<input_port name="service_name" type="std::string" default="">Service name</input_port>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>