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Added initial batch of behaviors

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Pimpest
2026-03-06 20:52:01 +01:00
parent 1a2661fa77
commit 5c8ed91ccf
16 changed files with 899 additions and 0 deletions
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33
toid_bt/behavior_trees/behavior1.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="test_1">
<Sequence>
<RotateSimple angle="90"
radians="false"
min_angle="0.000000"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="0"
radians="false"
min_angle="0.000000"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="RotateSimple">
<input_port name="angle"
type="double"/>
<input_port name="radians"
default="false"
type="bool"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
</TreeNodesModel>
</root>

53
toid_bt/behavior_trees/calibration_routines.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="wheel_ratio_calibration">
<Sequence>
<Delay delay_msec="5000">
<ZeroOdom service_name=""/>
</Delay>
<MovePointSimple x="1.0"
y="0"
theta="0"
action_name=""/>
<RotateSimple angle="180"
radians="false"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.4"
y="0"
theta="180"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>
<input_port name="y"
type="double"/>
<input_port name="theta"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateSimple">
<input_port name="angle"
type="double"/>
<input_port name="radians"
default="false"
type="bool"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>

39
toid_bt/behavior_trees/toid_behaviors.btproj Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4" project_name="Project">
<include path="behavior1.xml"/>
<include path="calibration_routines.xml"/>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="EndCalib">
<input_port name="service_name" type="std::string">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="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateSimple">
<input_port name="angle" type="double"/>
<input_port name="radians" default="false" type="bool"/>
<input_port name="min_angle" default="0.000000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateTowards">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="radians" default="false" type="bool"/>
<input_port name="min_angle" default="0.000000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="SetWidth">
<input_port name="width" type="double"/>
<input_port name="count" default="1" type="int"/>
<output_port name="new_width" type="double"/>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>