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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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11
toid_bt/src/bt_executor.cpp
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@@ -9,6 +9,7 @@
#include "toid_bt/plugins/move_coords_action.hpp"
#include "toid_bt/plugins/rotate_action.hpp"
#include "toid_bt/plugins/rotate_towards_action.hpp"
#include "toid_bt/plugins/translate_x_action.hpp"
namespace toid
{
@@ -49,17 +50,17 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
factory.registerNodeType<toid::RotateTowardsNode>(
"RotateTowards", BT::RosNodeParams(nh, "/rotate"), get_pose);
factory.registerNodeType<toid::TranslateXNode>(
"TranslateX", BT::RosNodeParams(nh, "/translateX"), get_pose);
factory.registerNodeType<toid::EndCalibNode>(
"SetWidth", BT::RosNodeParams(nh, "/set_width"), get_pose);
factory.registerNodeType<toid::EmptySrvNode>(
"ZeroOdom", BT::RosNodeParams(nh, "/zero"));
factory.registerNodeType<toid::EmptySrvNode>("ZeroOdom", BT::RosNodeParams(nh, "/zero"));
factory.registerNodeType<toid::EmptySrvNode>(
"EndCalib", BT::RosNodeParams(nh, "/end_calib"));
factory.registerNodeType<toid::EmptySrvNode>("EndCalib", BT::RosNodeParams(nh, "/end_calib"));
std::cout << describeCustomNodes() << std::endl;
}
void TreeExecutor::position(geometry_msgs::msg::PoseStamped & pose)