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Modified behavior tree nodes to include max_speed

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pimpest
2026-03-07 15:40:41 +01:00
parent 77cb2c5573
commit 8ae7e4befd
9 changed files with 138 additions and 57 deletions
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62
toid_bt/behavior_trees/calibration_routines.xml
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@@ -3,20 +3,38 @@
<BehaviorTree ID="wheel_ratio_calibration">
<Sequence>
<Delay delay_msec="5000">
<ZeroOdom service_name=""/>
<RotateSimple angle="0"
max_speed="0.000000"
min_angle="270"
action_name=""/>
</Delay>
<MovePointSimple x="1.0"
y="0"
theta="0"
action_name=""/>
<RotateSimple angle="180"
radians="false"
min_angle="0.000000"
<Sequence>
<MovePointSimple x="1.0"
y="0"
theta="0"
max_speed="0.10000"
action_name=""/>
<RotateSimple angle="180"
max_speed="0.500000"
min_angle="10"
action_name=""/>
<MovePointSimple x="0.4"
y="0"
theta="180"
max_speed="0.100000"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.500000"
min_angle="-10"
action_name=""/>
</Sequence>
<TranslateX x="-0.5"
max_speed="0.050000"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.000000"
min_angle="-270"
action_name=""/>
<MovePointSimple x="0.4"
y="0"
theta="180"
action_name=""/>
</Sequence>
</BehaviorTree>
@@ -29,24 +47,32 @@
type="double"/>
<input_port name="theta"
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>
</Action>
<Action ID="RotateSimple">
<input_port name="angle"
type="double"/>
<input_port name="radians"
default="false"
type="bool"/>
<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>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name"
type="std::string">Service name</input_port>
<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>
</Action>
</TreeNodesModel>