37 lines
1.1 KiB
XML
37 lines
1.1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4"
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main_tree_to_execute="Main_strat">
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<BehaviorTree ID="Main_strat">
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<Repeat num_cycles="25">
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<Sequence>
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<MoveStraightAction distance="5"
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tolerance="0.001"
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action_name="/MoveStraight"/>
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<Sleep msec="1000"/>
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<SimpleBehavior message="YoYoYo Mr. White, what up?"/>
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<MoveStraightAction distance="-5"
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tolerance="0.001"
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action_name="/MoveStraight"/>
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</Sequence>
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</Repeat>
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</BehaviorTree>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Action ID="MoveStraightAction">
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<input_port name="distance"
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type="double"/>
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<input_port name="tolerance"
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default="0.100000"
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type="double"/>
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<input_port name="action_name"
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type="std::string">Action server name</input_port>
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</Action>
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<Action ID="SimpleBehavior">
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<input_port name="message"
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type="std::string"/>
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</Action>
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</TreeNodesModel>
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</root>
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