Pimpest/ros2-behaviors
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2024-11-18 21:03:21 +01:00
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mg_bt/behavior_trees/untitled_1.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4"
main_tree_to_execute="Main_strat">
<BehaviorTree ID="Main_strat">
<Repeat num_cycles="25">
<Sequence>
<MoveStraightAction distance="5"
tolerance="0.001"
action_name="/MoveStraight"/>
<Sleep msec="1000"/>
<SimpleBehavior message="YoYoYo Mr. White, what up?"/>
<MoveStraightAction distance="-5"
tolerance="0.001"
action_name="/MoveStraight"/>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="MoveStraightAction">
<input_port name="distance"
type="double"/>
<input_port name="tolerance"
default="0.100000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="SimpleBehavior">
<input_port name="message"
type="std::string"/>
</Action>
</TreeNodesModel>
</root>