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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
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@@ -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>