magrob/mg_bt/behavior_trees/calib_bt.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="calib2_bt">
    <Sequence>
      <ZeroNode service_name="/zero"/>
      <MovePoint x_goal="0.7"
                 y_goal="0.0"
                 max_wheel_speed="3.000000"
                 max_angular="0.1"
                 max_vel="2.000000"
                 ornt_mult="4.000000"
                 tolerance="0.02"
                 action_name="/MovePoint"/>
      <RotateNode angle="-2"
                  max_wheel_speed="3.000000"
                  max_angular="3.140000"
                  tolerance="0.001000"
                  action_name="/Rotate"/>
      <RotateNode angle="-3.14"
                  max_wheel_speed="3.000000"
                  max_angular="3.140000"
                  tolerance="0.001000"
                  action_name="/Rotate"/>
      <MovePoint x_goal="0.3"
                 y_goal="0.0"
                 max_wheel_speed="3.000000"
                 max_angular="3.140000"
                 max_vel="2.000000"
                 ornt_mult="4.000000"
                 tolerance="0.02"
                 action_name="/MovePoint"/>
      <RotateNode angle="-2"
                  max_wheel_speed="3.000000"
                  max_angular="3.140000"
                  tolerance="0.001000"
                  action_name="/Rotate"/>
      <RotateNode angle="0"
                  max_wheel_speed="3.000000"
                  max_angular="3.140000"
                  tolerance="0.001000"
                  action_name="/Rotate"/>
      <Fallback>
        <Timeout msec="5000">
          <MovePoint x_goal="-0.1"
                     y_goal="0.0"
                     max_wheel_speed="3.000000"
                     max_angular="0.1"
                     max_vel="2.000000"
                     ornt_mult="4.000000"
                     tolerance="0.001000"
                     action_name="/MovePoint"/>
        </Timeout>
        <AlwaysSuccess/>
      </Fallback>
      <ZeroNode service_name="/endCalib"/>
    </Sequence>
  </BehaviorTree>

  <BehaviorTree ID="calib_bt">
    <Sequence>
      <SetBlackboard value="0.311010"
                     output_key="width"/>
      <Delay delay_msec="10000">
        <Repeat num_cycles="5">
          <Sequence>
            <ZeroNode service_name="/zero"/>
            <MovePoint x_goal="0.7"
                       y_goal="0.0"
                       max_wheel_speed="3.000000"
                       max_angular="0.1"
                       max_vel="2.000000"
                       ornt_mult="4.000000"
                       tolerance="0.04"
                       action_name="/MovePoint"/>
            <RotateNode angle="2"
                        max_wheel_speed="3.000000"
                        max_angular="3.140000"
                        tolerance="0.001000"
                        action_name="/Rotate"/>
            <RotateNode angle="-2"
                        max_wheel_speed="3.000000"
                        max_angular="3.140000"
                        tolerance="0.001000"
                        action_name="/Rotate"/>
            <RotateNode angle="0"
                        max_wheel_speed="3.000000"
                        max_angular="3.140000"
                        tolerance="0.001000"
                        action_name="/Rotate"/>
            <Fallback>
              <Timeout msec="20000">
                <MovePoint x_goal="-0.1"
                           y_goal="0.0"
                           max_wheel_speed="3.000000"
                           max_angular="0.1"
                           max_vel="2.000000"
                           ornt_mult="4.000000"
                           tolerance="0.001000"
                           action_name="/MovePoint"/>
              </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="x_goal"
                  type="double"/>
      <input_port name="y_goal"
                  type="double"/>
      <input_port name="max_wheel_speed"
                  default="3.000000"
                  type="double"/>
      <input_port name="max_angular"
                  default="3.140000"
                  type="double"/>
      <input_port name="max_vel"
                  default="2.000000"
                  type="double"/>
      <input_port name="ornt_mult"
                  default="4.000000"
                  type="double"/>
      <input_port name="tolerance"
                  default="0.001000"
                  type="double"/>
      <input_port name="action_name"
                  type="std::string">Action server name</input_port>
    </Action>
    <Action ID="RotateNode">
      <input_port name="angle"
                  type="double"/>
      <input_port name="max_wheel_speed"
                  default="3.000000"
                  type="double"/>
      <input_port name="max_angular"
                  default="3.140000"
                  type="double"/>
      <input_port name="tolerance"
                  default="0.001000"
                  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>