Magnezijum-Robotics/magrob
2
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Add behavior tree executor #10

Merged
Pimpest merged 2 commits from add-behavior-tree into main 2025-04-14 10:30:57 +00:00
Conversation 0 Commits 2 Files Changed 15 +604
15 changed files with 604 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 24cb2bd307 - Show all commits

4
mg_bt/behavior_trees/calib_bt.xml
View File

@ -4,7 +4,7 @@
<Sequence> <Sequence>
<SetBlackboard value="0.31133" <SetBlackboard value="0.31133"
output_key="width"/> output_key="width"/>
<Delay delay_msec="20000"> <Delay delay_msec="10000">
<Repeat num_cycles="5"> <Repeat num_cycles="5">
<Sequence> <Sequence>
<ZeroNode service_name="/zero"/> <ZeroNode service_name="/zero"/>
@ -20,7 +20,7 @@
<RotateNode angle="0" <RotateNode angle="0"
action_name="/Rotate"/> action_name="/Rotate"/>
<Fallback> <Fallback>
<Timeout msec="10000"> <Timeout msec="20000">
<MovePoint action_name="/MovePoint" <MovePoint action_name="/MovePoint"
max_angular="0.1" max_angular="0.1"
x_goal="-0.1" x_goal="-0.1"

2
mg_bt/src/tree_nodes/calib.hpp
View File

@ -29,7 +29,7 @@ namespace mg {
RCLCPP_INFO(logger(), "Setting width to: %lf", new_width); RCLCPP_INFO(logger(), "Setting width to: %lf", new_width);
request->set__data(count); request->set__data(new_width);
setOutput("Count", new_width); setOutput("Count", new_width);
return true; return true;
} }