<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4" project_name="Project">
    <include path="behavior1.xml"/>
    <include path="calibration_routines.xml"/>
    <!-- Description of Node Models (used by Groot) -->
    <TreeNodesModel>
        <Action ID="EndCalib">
            <input_port name="service_name" type="std::string">Service name</input_port>
        </Action>
        <Action ID="MovePointSimple">
            <input_port name="x" type="double"/>
            <input_port name="y" type="double"/>
            <input_port name="theta" type="double"/>
            <input_port name="max_speed" default="0.000000" type="double"/>
            <input_port name="action_name" type="std::string">Action server name</input_port>
        </Action>
        <Action ID="RotateSimple">
            <input_port name="angle" type="double"/>
            <input_port name="max_speed" default="0.000000" type="double"/>
            <input_port name="min_angle" default="0.000000" type="double"/>
            <input_port name="action_name" type="std::string">Action server name</input_port>
        </Action>
        <Action ID="RotateTowards">
            <input_port name="x" type="double"/>
            <input_port name="y" type="double"/>
            <input_port name="max_speed" default="0.000000" type="double"/>
            <input_port name="min_angle" default="0.000000" type="double"/>
            <input_port name="action_name" type="std::string">Action server name</input_port>
        </Action>
        <Action ID="SetWidth">
            <input_port name="width" type="double"/>
            <input_port name="count" default="1" type="int"/>
            <output_port name="new_width" type="double"/>
            <input_port name="service_name" type="std::string">Service name</input_port>
        </Action>
        <Action ID="TranslateX">
            <input_port name="x" type="double"/>
            <input_port name="max_speed" default="0.000000" type="double"/>
            <input_port name="action_name" type="std::string">Action server name</input_port>
        </Action>
        <Action ID="ZeroOdom">
            <input_port name="service_name" type="std::string">Service name</input_port>
        </Action>
    </TreeNodesModel>
</root>
