add backwards to behavior tree action

2026-03-20 17:05:30 +01:00
parent 9010bac9a0
commit 8f4f7dba8b
4 changed files with 94 additions and 30 deletions
--- a/toid_bt/behavior_trees/toid_behaviors.btproj
+++ b/toid_bt/behavior_trees/toid_behaviors.btproj
@@ -12,6 +12,7 @@
            <input_port name="y" type="double"/>
            <input_port name="theta" type="double"/>
            <input_port name="max_speed" default="0.000000" type="double"/>
+            <input_port name="backwards" default="false" type="bool"/>
            <input_port name="action_name" type="std::string">Action server name</input_port>
        </Action>
        <Action ID="RotateSimple">