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Added the ability to set postion

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This commit is contained in:
Pimpest
2025-05-08 02:25:34 +02:00
parent 07cc056853
commit da3d1d9d15
9 changed files with 131 additions and 4 deletions
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7
mg_bt/behavior_trees/mg_bt.btproj
View File

@ -47,6 +47,13 @@
<input_port name="tolerance" type="double"/>
<input_port name="action_name" type="std::string" default="">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>
</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>

30
mg_bt/behavior_trees/tactics.xml
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@ -27,6 +27,23 @@
<AlwaysFailure/>
</BehaviorTree>
<BehaviorTree ID="testbed">
<Sequence>
<SendPose x="1.0"
y="1.0"
angle="90"
isDegree="true"
service_name="/set_pose"/>
<Delay delay_msec="5000">
<SendPose x="2.0"
y="0.5"
angle="-1"
isDegree="false"
service_name="/set_pose"/>
</Delay>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="I2CSignal">
@ -41,6 +58,19 @@
<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"/>