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Added decorator node for checking stuck state

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pimpest
2026-04-01 21:33:53 +02:00
parent ff1fbf5abe
commit 080676384d
4 changed files with 102 additions and 21 deletions
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17
toid_bt/behavior_trees/behavior1.xml
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@@ -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"/>