92 lines
4.9 KiB
XML
92 lines
4.9 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4" project_name="Project">
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<include path="calib_bt.xml"/>
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<include path="tactics.xml"/>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Action ID="CalibWidth">
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<input_port name="PreviousWidth" type="double"/>
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<input_port name="Count" default="1" type="int"/>
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<output_port name="NewWidth" type="double"/>
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="CanChooser">
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<output_port name="orient" type="int"/>
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<output_port name="y_loc" type="double"/>
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<output_port name="x_loc" type="double"/>
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<input_port name="canlist" type="std::string"/>
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</Action>
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<Action ID="I2CSignal">
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<input_port name="Address" default="42" type="int"/>
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<input_port name="Data" default="0" type="int"/>
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<output_port name="Result" type="int"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="LookAtNode">
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<input_port name="x" type="double"/>
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<input_port name="y" type="double"/>
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<input_port name="max_wheel_speed" default="3.000000" type="double"/>
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<input_port name="max_angular" default="3.140000" type="double"/>
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<input_port name="tolerance" default="0.001000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="MoveGlobal">
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<input_port name="x_goal" type="double"/>
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<input_port name="y_goal" type="double"/>
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<input_port name="max_wheel_speed" default="6.000000" type="double"/>
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<input_port name="max_angular" default="3.140000" type="double"/>
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<input_port name="max_vel" default="4.000000" type="double"/>
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<input_port name="ornt_mult" default="3.000000" type="double"/>
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<input_port name="tolerance" default="0.050000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="MoveLocal">
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<input_port name="x_goal" type="double"/>
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<input_port name="y_goal" type="double"/>
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<input_port name="max_wheel_speed" default="3.000000" type="double"/>
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<input_port name="max_angular" default="3.140000" type="double"/>
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<input_port name="max_vel" default="2.000000" type="double"/>
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<input_port name="pos_mult" default="15.000000" type="double"/>
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<input_port name="ornt_mult" default="4.000000" type="double"/>
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<input_port name="tolerance" default="0.001000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="MovePoint">
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<input_port name="x_goal" type="double"/>
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<input_port name="y_goal" type="double"/>
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<input_port name="max_wheel_speed" default="3.000000" type="double"/>
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<input_port name="max_angular" default="3.140000" type="double"/>
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<input_port name="max_vel" default="2.000000" type="double"/>
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<input_port name="ornt_mult" default="4.000000" type="double"/>
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<input_port name="tolerance" default="0.001000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="RotateNode">
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<input_port name="angle" type="double"/>
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<input_port name="max_wheel_speed" default="3.000000" type="double"/>
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<input_port name="max_angular" default="3.140000" type="double"/>
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<input_port name="tolerance" default="0.001000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="SendPose">
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<input_port name="x" type="double"/>
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<input_port name="y" type="double"/>
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<input_port name="angle" type="double"/>
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<input_port name="isDegree" default="true" type="bool"/>
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Condition ID="SideObstaclePub">
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<input_port name="tactic" type="int"/>
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<input_port name="topic_name" default="__default__placeholder__" type="std::string">Topic name</input_port>
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</Condition>
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<Action ID="TacticChooser">
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<output_port name="IsBlue" type="bool"/>
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<output_port name="tactic" type="int"/>
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<input_port name="number" type="int"/>
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</Action>
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<Action ID="ZeroNode">
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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</TreeNodesModel>
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</root>
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