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finished toid_interaction node

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Pimpest
2026-04-03 21:00:57 +02:00
parent 26ed379300
commit 038568c7e3
28 changed files with 708 additions and 407 deletions
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13
toid_bt/behavior_trees/calibration_routines.xml
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@@ -26,14 +26,14 @@
action_name=""/>
</Sequence>
<ForceSuccess>
<Timeout msec="13000">
<DetectStuck timeout="1.000000">
<MovePointSimple x="-1.0"
y="0"
theta="0"
max_speed="0.070000"
backwards="true"
action_name=""/>
</Timeout>
</DetectStuck>
</ForceSuccess>
<SetWidth width="{width}"
count="1"
@@ -72,14 +72,14 @@
action_name=""/>
</Sequence>
<ForceSuccess>
<Timeout msec="9000">
<DetectStuck timeout="1.000000">
<MovePointSimple x="-0.2"
y="0"
theta="0"
max_speed="0.05"
backwards="true"
action_name=""/>
</Timeout>
</DetectStuck>
</ForceSuccess>
<Sleep msec="1000"/>
<EndCalib service_name=""/>
@@ -102,6 +102,11 @@
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Decorator ID="DetectStuck">
<input_port name="timeout"
default="1.000000"
type="double"/>
</Decorator>
<Action ID="EndCalib">
<input_port name="service_name"
type="std::string">Service name</input_port>