add backwards to behavior tree action

toid_bt/include/toid_bt/plugins/move_coords_action.hpp

@@ -28,6 +28,7 @@ public:
       BT::InputPort<double>("y"),
       BT::InputPort<double>("theta"),
       BT::InputPort<double>("max_speed", 0, {}),
+      BT::InputPort<bool>("backwards", false, {}),
       //BT::InputPort<double>("options"),
     });
   }
@@ -38,6 +39,7 @@ public:
     auto y_goal = getInput<double>("y");
     auto theta = getInput<double>("theta");
     auto max_speed = getInput<double>("max_speed").value();
+    auto backwards = getInput<bool>("backwards").value();
 
     goal.x = x_goal.value();
     goal.y = y_goal.value();
@@ -50,6 +52,7 @@ public:
     }
 
     goal.max_speed = max_speed;
+    goal.backwards = backwards;
 
     return true;
   }