119 lines
3.9 KiB
XML
119 lines
3.9 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<root BTCPP_format="4">
|
|
<BehaviorTree ID="calib_bt">
|
|
<Sequence>
|
|
<SetBlackboard value="0.31133"
|
|
output_key="width"/>
|
|
<Delay delay_msec="20000">
|
|
<Repeat num_cycles="5">
|
|
<Sequence>
|
|
<ZeroNode service_name="/zero"/>
|
|
<MovePoint action_name="/MovePoint"
|
|
tolerance="0.04"
|
|
max_angular="0.1"
|
|
x_goal="0.7"
|
|
y_goal="0.0"/>
|
|
<RotateNode angle="2"
|
|
action_name="/Rotate"/>
|
|
<RotateNode angle="-2"
|
|
action_name="/Rotate"/>
|
|
<RotateNode angle="0"
|
|
action_name="/Rotate"/>
|
|
<Fallback>
|
|
<Timeout msec="10000">
|
|
<MovePoint action_name="/MovePoint"
|
|
max_angular="0.1"
|
|
x_goal="-0.1"
|
|
y_goal="0.0"/>
|
|
</Timeout>
|
|
<AlwaysSuccess/>
|
|
</Fallback>
|
|
<CalibWidth PreviousWidth="{width}"
|
|
Count="1"
|
|
NewWidth="{width}"
|
|
service_name="/set_width"/>
|
|
</Sequence>
|
|
</Repeat>
|
|
</Delay>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<!-- Description of Node Models (used by Groot) -->
|
|
<TreeNodesModel>
|
|
<Action ID="CalibWidth">
|
|
<input_port name="PreviousWidth"
|
|
type="double"/>
|
|
<input_port name="Count"
|
|
default="1"
|
|
type="int"/>
|
|
<output_port name="NewWidth"
|
|
type="double"/>
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
<Action ID="MovePoint">
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
<input_port name="tolerance"
|
|
type="double"/>
|
|
<input_port name="obst_mult_a"
|
|
type="double"/>
|
|
<input_port name="ornt_mult"
|
|
type="double"/>
|
|
<input_port name="pos_mult"
|
|
type="double"/>
|
|
<input_port name="t_ornt_mult"
|
|
type="double"/>
|
|
<input_port name="obst_mult_c"
|
|
type="double"/>
|
|
<input_port name="obst_mult_b"
|
|
type="double"/>
|
|
<input_port name="max_vel"
|
|
type="double"/>
|
|
<input_port name="max_angular"
|
|
type="double"/>
|
|
<input_port name="IgnoreList"
|
|
type="std::string"/>
|
|
<input_port name="max_wheel_speed"
|
|
type="double"/>
|
|
<input_port name="x_goal"
|
|
type="double"/>
|
|
<input_port name="y_goal"
|
|
type="double"/>
|
|
</Action>
|
|
<Action ID="RotateNode">
|
|
<input_port name="angle"
|
|
type="double"/>
|
|
<input_port name="pos_mult"
|
|
type="double"/>
|
|
<input_port name="max_wheel_speed"
|
|
type="double"/>
|
|
<input_port name="IgnoreList"
|
|
type="std::string"/>
|
|
<input_port name="max_angular"
|
|
type="double"/>
|
|
<input_port name="max_vel"
|
|
type="double"/>
|
|
<input_port name="obst_mult_b"
|
|
type="double"/>
|
|
<input_port name="obst_mult_c"
|
|
type="double"/>
|
|
<input_port name="ornt_mult"
|
|
type="double"/>
|
|
<input_port name="t_ornt_mult"
|
|
type="double"/>
|
|
<input_port name="obst_mult_a"
|
|
type="double"/>
|
|
<input_port name="tolerance"
|
|
type="double"/>
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
</Action>
|
|
<Action ID="ZeroNode">
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
</TreeNodesModel>
|
|
|
|
</root>
|