Magnezijum-Robotics/magrob
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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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8
mg_bt/src/mg_tree_executor.cpp
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@ -2,9 +2,13 @@
#include "behaviortree_cpp/xml_parsing.h"
#include "tree_nodes/calib.hpp"
#include "tree_nodes/choose_can.hpp"
#include "tree_nodes/choose_tactic.hpp"
#include "tree_nodes/i2c.hpp"
#include "tree_nodes/move_point.hpp"
#include "tree_nodes/move_local.hpp"
#include "tree_nodes/move_global.hpp"
#include "tree_nodes/look_at.hpp"
#include "tree_nodes/rotate.hpp"
#include "tree_nodes/side_pub.hpp"
#include "tree_nodes/set_pos.hpp"
@ -28,11 +32,15 @@ namespace mg {
void MgTreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory& factory) {
factory.registerNodeType<mg::MovePointNode>("MovePoint", node());
factory.registerNodeType<mg::MoveGlobalNode>("MoveGlobal", node());
factory.registerNodeType<mg::RotateNode>("RotateNode", node());
factory.registerNodeType<mg::ZeroNode>("ZeroNode", node());
factory.registerNodeType<mg::I2cNode>("I2CSignal", node());
factory.registerNodeType<mg::SidePub>("SideObstaclePub", node());
factory.registerNodeType<mg::SendPoseNode>("SendPose", node());
factory.registerNodeType<mg::LookAtNode>("LookAtNode", node());
factory.registerNodeType<mg::MoveLocalNode>("MoveLocal", node(), [this]() { return this->position(); });
factory.registerNodeType<mg::CanChooser>("CanChooser");
factory.registerNodeType<mg::TacticsChooser>("TacticChooser");
factory.registerNodeType<mg::CalibWidthNode>("CalibWidth", node(), [this]() { return this->position(); });
}