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Added launch_files

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Pimpest
2025-05-08 23:01:51 +02:00
parent bd47553b86
commit ca069cd664
4 changed files with 226 additions and 67 deletions
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87
mg_bt/behavior_trees/tactics.xml
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@ -257,7 +257,7 @@
<BehaviorTree ID="tactic_base">
<Sequence>
<I2CSignal Address="66"
<I2CSignal Address="65"
Data="1"
Result="{tactic_id}"
action_name="/i2c_action"/>
@ -275,11 +275,79 @@
</BehaviorTree>
<BehaviorTree ID="tactic_default_yellow">
<AlwaysSuccess/>
<Sequence>
<I2CSignal Address="65"
Data="1"
Result="{i2c_res}"
action_name="/i2c_action"/>
<SendPose x="1.0 + 16.5"
y="0.45 - 14"
angle="90"
isDegree="true"
service_name="/set_pose"/>
<SideObstaclePub tactic="1"
topic_name="/side"/>
<Timeout msec="100000">
<Sequence>
<MoveLocal x_goal="0.20"
y_goal="0"
max_wheel_speed="3.000000"
max_angular="3.140000"
max_vel="2.000000"
pos_mult="15.000000"
ornt_mult="4.000000"
tolerance="0.001000"
action_name="/MovePoint"/>
<MoveLocal x_goal="-0.20"
y_goal="0"
max_wheel_speed="3.000000"
max_angular="3.140000"
max_vel="2.000000"
pos_mult="15.000000"
ornt_mult="4.000000"
tolerance="0.001000"
action_name="/MovePoint"/>
</Sequence>
</Timeout>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="tatic_default_blue">
<AlwaysFailure/>
<Sequence>
<I2CSignal Address="65"
Data="1"
Result="{i2c_res}"
action_name="/i2c_action"/>
<SendPose x="0.31"
y="1.71"
angle="90"
isDegree="true"
service_name="/set_pose"/>
<SideObstaclePub tactic="2"
topic_name="/side"/>
<Timeout msec="100000">
<Sequence>
<MoveLocal x_goal="0.20"
y_goal="0"
max_wheel_speed="3.000000"
max_angular="3.140000"
max_vel="2.000000"
pos_mult="15.000000"
ornt_mult="4.000000"
tolerance="0.001000"
action_name="/MovePoint"/>
<MoveLocal x_goal="-0.20"
y_goal="0"
max_wheel_speed="3.000000"
max_angular="3.140000"
max_vel="2.000000"
pos_mult="15.000000"
ornt_mult="4.000000"
tolerance="0.001000"
action_name="/MovePoint"/>
</Sequence>
</Timeout>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="testbed">
@ -439,6 +507,19 @@
<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"
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"/>