Pimpest/toid
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added decorator node for checking stuck state

Browse Source
This commit is contained in:
pimpest
2026-04-01 21:33:53 +02:00
parent ff1fbf5abe
commit 080676384d
4 changed files with 102 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
toid_bt/behavior_trees/behavior1.xml
View File

@@ -23,16 +23,23 @@
<BehaviorTree ID="test_1">
<Sequence>
<RotateTowards x="0.4"
y="0.0"
max_speed="0.000000"
min_angle="0.000000"
action_name=""/>
<DetectStuck timeout="1.000000">
<RotateTowards x="0.4"
y="0.0"
max_speed="0.000000"
min_angle="0.000000"
action_name=""/>
</DetectStuck>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Decorator ID="DetectStuck">
<input_port name="timeout"
default="1.000000"
type="double"/>
</Decorator>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>

33
toid_bt/behavior_trees/toid_behaviors.btproj
View File

@@ -4,43 +4,46 @@
<include path="calibration_routines.xml"/>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Decorator ID="DetectStuck">
<input_port name="timeout" type="double" default="1.000000"/>
</Decorator>
<Action ID="EndCalib">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">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="backwards" default="false" type="bool"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="backwards" type="bool" default="false"/>
<input_port name="action_name" type="std::string" default="">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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="min_angle" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="min_angle" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="SetWidth">
<input_port name="width" type="double"/>
<input_port name="count" default="1" type="int"/>
<input_port name="count" type="int" default="1"/>
<output_port name="new_width" type="double"/>
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
</TreeNodesModel>
</root>