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various fixes

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This commit is contained in:
Pimpest
2026-04-15 15:32:28 +02:00
parent 4d4c598ce9
commit 980598718d
7 changed files with 107 additions and 52 deletions
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56
toid_bt/behavior_trees/behavior1.xml
View File

@@ -2,6 +2,9 @@
<root BTCPP_format="4">
<BehaviorTree ID="seq">
<Sequence>
<InPose timeout="1.000000">
<Sleep msec="999999"/>
</InPose>
<Seq1 service_name=""/>
<Seq2 text="0101"
service_name=""/>
@@ -12,21 +15,40 @@
<BehaviorTree ID="seq1">
<Sequence>
<ZeroOdom service_name=""/>
<MovePointSimple x="1.05"
<MovePointSimple x="0.1"
y="0"
theta="0"
max_speed="0.300000"
max_speed="0.350000"
backwards="false"
action_name=""/>
<MovePointSimple x="0.76"
y="0.18"
theta="-90"
max_speed="0.250000"
backwards="true"
<RotateTowards x="0.76"
y="-0.5"
max_speed="1.50000"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.756"
y="-0.5"
theta="-45"
max_speed="0.350000"
backwards="false"
action_name=""/>
<RotateTowards x="0.76"
y="-0.02"
max_speed="1.50000"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.757"
y="-0.02"
theta="90"
max_speed="0.150000"
backwards="false"
action_name=""/>
<MovePointSimple x="1.2"
y="0.0"
theta="0.0"
max_speed="0.250000"
backwards="false"
action_name=""/>
<TranslateX x="0.5"
max_speed="0.300000"
action_name=""/>
</Sequence>
</BehaviorTree>
@@ -49,6 +71,11 @@
default="1.000000"
type="double"/>
</Decorator>
<Decorator ID="InPose">
<input_port name="timeout"
default="1.000000"
type="double"/>
</Decorator>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>
@@ -93,15 +120,6 @@
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
<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>
<Action ID="ZeroOdom">
<input_port name="service_name"
type="std::string">Service name</input_port>

77
toid_bt/behavior_trees/calibration_routines.xml
View File

@@ -22,7 +22,7 @@
<Sleep msec="500"/>
<RotateSimple angle="0"
max_speed="0.500000"
min_angle="270"
min_angle="700"
action_name=""/>
</Sequence>
<ForceSuccess>
@@ -36,7 +36,7 @@
</DetectStuck>
</ForceSuccess>
<SetWidth width="{width}"
count="1"
count="2"
new_width="{width}"
service_name=""/>
</Sequence>
@@ -47,30 +47,55 @@
<Sleep msec="5000"/>
<ZeroOdom service_name=""/>
<Sleep msec="1000"/>
<Sequence>
<MovePointSimple x="1.1"
y="0"
theta="0"
max_speed="0.10000"
backwards="false"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="180"
max_speed="0.300000"
min_angle="10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="0.35"
y="0"
theta="180"
max_speed="0.100000"
backwards="false"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.300000"
min_angle="-10"
action_name=""/>
</Sequence>
<Repeat num_cycles="6">
<Sequence>
<MovePointSimple x="1.1"
y="0"
theta="0"
max_speed="0.10000"
backwards="false"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="180"
max_speed="0.300000"
min_angle="10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="0.35"
y="0"
theta="180"
max_speed="0.100000"
backwards="false"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.300000"
min_angle="-10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="1.1"
y="0"
theta="0"
max_speed="0.10000"
backwards="false"
action_name=""/>
<Sleep msec="500"/>
<RotateSimple angle="180"
max_speed="0.300000"
min_angle="-10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="0.35"
y="0"
theta="180"
max_speed="0.100000"
backwards="false"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.300000"
min_angle="10"
action_name=""/>
</Sequence>
</Repeat>
<ForceSuccess>
<DetectStuck timeout="1.000000">
<MovePointSimple x="-0.2"

3
toid_bt/behavior_trees/toid_behaviors.btproj
View File

@@ -10,6 +10,9 @@
<Action ID="EndCalib">
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Decorator ID="InPose">
<input_port name="timeout" default="1.000000" type="double"/>
</Decorator>
<Action ID="MovePointSimple">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>