Added the ability to set postion

mg_bt/behavior_trees/tactics.xml

@@ -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"/>