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added behavior trees

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Pimpest
2026-04-17 01:38:55 +02:00
parent 0a0c6da6f0
commit 50ec8e3a83
5 changed files with 100 additions and 29 deletions
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4
toid_bt/src/bt_executor.cpp
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@@ -14,6 +14,7 @@
#include "toid_bt/plugins/send_text_action.hpp"
#include "toid_bt/plugins/set_parameter_action.hpp"
#include "toid_bt/plugins/stuck_detector_decorator.hpp"
#include "toid_bt/plugins/set_initial_pose_action.hpp"
#include "toid_bt/plugins/translate_x_action.hpp"
namespace toid
@@ -84,6 +85,9 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
factory.registerNodeType<toid::SetParameterNode>(
"SetParameter", BT::RosNodeParams(nh, "/compressed_image_subscriber/set_parameters"));
factory.registerNodeType<toid::SetInitialPoseNode>(
"SetInitialPose", BT::RosNodeParams(nh, "/initialpose"));
factory.registerNodeType<toid::EmptySrvNode>("ZeroOdom", BT::RosNodeParams(nh, "/zero"));
factory.registerNodeType<toid::EmptySrvNode>("EndCalib", BT::RosNodeParams(nh, "/end_calib"));