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various fixes

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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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77
toid_bt/behavior_trees/calibration_routines.xml
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@@ -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"