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New blue strat

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Pimpest
2026-04-17 15:59:03 +02:00
parent 49bbd58e49
commit 542cc20239
1 changed files with 101 additions and 7 deletions
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108
toid_bt/behavior_trees/behavior1.xml
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@@ -59,16 +59,22 @@
<BehaviorTree ID="seq2"> <BehaviorTree ID="seq2">
<Sequence> <Sequence>
<ZeroOdom service_name=""/> <ZeroOdom service_name=""/>
<SetInitialPose y="0.806" <SetInitialPose y="0.955"
theta="-90" theta="-90"
frame_id="map" frame_id="map"
x="1.328" x="1.330"
topic_name="__default__placeholder__"/> topic_name="__default__placeholder__"/>
<MovePointSimple x="1.330"
y="0.805"
theta="-90"
max_speed="0.300000"
backwards="false"
action_name=""/>
<WaitPullPin action_name=""/> <WaitPullPin action_name=""/>
<Timeout msec="100000"> <Timeout msec="100000">
<Sequence> <Sequence>
<InPose timeout="1.000000"> <InPose timeout="1.000000">
<MovePointSimple x="1.328" <MovePointSimple x="1.33"
y="0.354" y="0.354"
theta="-90" theta="-90"
max_speed="0.300000" max_speed="0.300000"
@@ -95,7 +101,7 @@
<TranslateX x="-0.3" <TranslateX x="-0.3"
max_speed="0.000000" max_speed="0.000000"
action_name=""/> action_name=""/>
<RotateTowards x="1.328" <RotateTowards x="1.33"
y="0.354" y="0.354"
backwards="true" backwards="true"
max_speed="2.000000" max_speed="2.000000"
@@ -103,7 +109,7 @@
action_name=""/> action_name=""/>
</Sequence> </Sequence>
</Parallel> </Parallel>
<MovePointSimple x="1.328" <MovePointSimple x="1.330"
y="0.354" y="0.354"
theta="-90" theta="-90"
max_speed="0.400000" max_speed="0.400000"
@@ -113,7 +119,7 @@
<ParallelAll max_failures="1"> <ParallelAll max_failures="1">
<Seq2 text="" <Seq2 text=""
service_name=""/> service_name=""/>
<MovePointSimple x="1.328" <MovePointSimple x="1.33"
y="-0.2" y="-0.2"
theta="-90" theta="-90"
max_speed="0.200000" max_speed="0.200000"
@@ -125,7 +131,7 @@
<Seq3 service_name=""/> <Seq3 service_name=""/>
<Sequence> <Sequence>
<Sleep msec="500"/> <Sleep msec="500"/>
<MovePointSimple x="1.328" <MovePointSimple x="1.33"
y="0.354" y="0.354"
theta="-90" theta="-90"
max_speed="0.400000" max_speed="0.400000"
@@ -138,6 +144,94 @@
</Sequence> </Sequence>
</BehaviorTree> </BehaviorTree>
<BehaviorTree ID="seq2_yellow">
<Sequence>
<ZeroOdom service_name=""/>
<SetInitialPose y="0.806"
theta="-90"
frame_id="map"
x="-1.328"
topic_name="__default__placeholder__"/>
<WaitPullPin action_name=""/>
<Timeout msec="100000">
<Sequence>
<InPose timeout="1.000000">
<MovePointSimple x="-1.328"
y="0.354"
theta="-90"
max_speed="0.300000"
backwards="false"
action_name=""/>
</InPose>
<Seq1 service_name=""/>
<Parallel failure_count="1"
success_count="-1">
<Seq2 text=""
service_name=""/>
<MovePointSimple x="-0.795"
y="-0.2"
theta="0"
max_speed="0.500000"
backwards="false"
action_name=""/>
</Parallel>
<Parallel failure_count="1"
success_count="-1">
<Seq3 service_name=""/>
<Sequence>
<Sleep msec="500"/>
<TranslateX x="-0.3"
max_speed="0.000000"
action_name=""/>
<RotateTowards x="-1.328"
y="0.354"
backwards="true"
max_speed="2.000000"
min_angle="0.000000"
action_name=""/>
</Sequence>
</Parallel>
<MovePointSimple x="-1.328"
y="0.354"
theta="-90"
max_speed="0.400000"
backwards="true"
action_name=""/>
<Seq1 service_name=""/>
<ParallelAll max_failures="1">
<Seq2 text=""
service_name=""/>
<MovePointSimple x="-1.328"
y="-0.2"
theta="-90"
max_speed="0.200000"
backwards="false"
action_name=""/>
</ParallelAll>
<Parallel failure_count="1"
success_count="-1">
<Seq3 service_name=""/>
<Sequence>
<Sleep msec="500"/>
<MovePointSimple x="-1.328"
y="0.354"
theta="-90"
max_speed="0.400000"
backwards="true"
action_name=""/>
</Sequence>
</Parallel>
<MovePointSimple x="-1.328"
y="0.806"
theta="-90"
max_speed="0.400000"
backwards="true"
action_name=""/>
</Sequence>
</Timeout>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="test_1"> <BehaviorTree ID="test_1">
<Sequence> <Sequence>
<DetectStuck timeout="1.000000"> <DetectStuck timeout="1.000000">