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Strategy blue part 1

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Pimpest
2026-04-17 12:42:39 +02:00
parent 6ff7af65ea
commit b3ea552cfb
3 changed files with 126 additions and 6 deletions
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113
toid_bt/behavior_trees/behavior1.xml
View File

@@ -1,5 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="pickup_crates">
<Seq1 service_name=""/>
</BehaviorTree>
<BehaviorTree ID="seq">
<Sequence>
<InPose timeout="1.000000">
@@ -48,6 +52,83 @@
</Sequence>
</BehaviorTree>
<BehaviorTree ID="seq2">
<Sequence>
<ZeroOdom service_name=""/>
<SetInitialPose y="0.806"
theta="-90"
frame_id="map"
x="1.328"
topic_name="__default__placeholder__"/>
<WaitPullPin action_name=""/>
<InPose timeout="1.000000">
<MovePointSimple x="1.328"
y="0.354"
theta="-90"
max_speed="0.300000"
backwards="false"
action_name=""/>
</InPose>
<Seq1 service_name=""/>
<Parallel failure_count="1"
success_count="-1">
<Seq2 text=""
service_name=""/>
<MovePointSimple x="0.795"
y="-0.2"
theta="180"
max_speed="0.500000"
backwards="false"
action_name=""/>
</Parallel>
<Parallel failure_count="1"
success_count="-1">
<Seq3 service_name=""/>
<Sequence>
<Sleep msec="500"/>
<TranslateX x="-0.3"
max_speed="0.000000"
action_name=""/>
<RotateTowards x="1.328"
y="0.354"
max_speed="2.000000"
min_angle="0.000000"
action_name=""/>
</Sequence>
</Parallel>
<MovePointSimple x="1.328"
y="0.354"
theta="-90"
max_speed="0.400000"
backwards="true"
action_name=""/>
<Seq1 service_name=""/>
<ParallelAll max_failures="1">
<Seq2 text=""
service_name=""/>
<MovePointSimple x="1.328"
y="-0.2"
theta="-90"
max_speed="0.200000"
backwards="false"
action_name=""/>
</ParallelAll>
<Parallel failure_count="1"
success_count="-1">
<Seq3 service_name=""/>
<Sequence>
<Sleep msec="500"/>
<MovePointSimple x="1.328"
y="0.354"
theta="-90"
max_speed="0.400000"
backwards="true"
action_name=""/>
</Sequence>
</Parallel>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="test_1">
<Sequence>
<DetectStuck timeout="1.000000">
@@ -116,10 +197,40 @@
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
<Condition ID="SetInitialPose">
<input_port name="y"
default="0.000000"
type="double">Y position in meters</input_port>
<input_port name="theta"
default="0.000000"
type="double">Heading in degrees</input_port>
<input_port name="frame_id"
default="map"
type="std::string">Reference frame</input_port>
<input_port name="x"
default="0.000000"
type="double">X position in meters</input_port>
<input_port name="topic_name"
default="__default__placeholder__"
type="std::string">Topic name</input_port>
</Condition>
<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="WaitPullPin">
<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>
</Action>
</TreeNodesModel>
</root>
</root>

17
toid_bt/include/toid_bt/plugins/translate_x_action.hpp
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@@ -5,18 +5,18 @@
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
#include "toid_msgs/action/simple_translate_x.hpp"
#include "toid_msgs/action/simple_move_coords.hpp"
namespace toid
{
class TranslateXNode : public BT::RosActionNode<toid_msgs::action::SimpleTranslateX>
class TranslateXNode : public BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>
{
public:
TranslateXNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
PoseFunc pose)
: BT::RosActionNode<toid_msgs::action::SimpleTranslateX>(name, conf, params), get_pose(pose)
: BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>(name, conf, params), get_pose(pose)
{
}
@@ -34,7 +34,16 @@ public:
auto x_goal = getInput<double>("x").value();
auto max_speed = getInput<double>("max_speed").value();
goal.distance = x_goal;
geometry_msgs::msg::PoseStamped pose;
get_pose(pose);
double yaw = tf2::getYaw(pose.pose.orientation);
goal.x = pose.pose.position.x + cos(yaw) * x_goal;
goal.y = pose.pose.position.y + sin(yaw) * x_goal;
goal.theta = yaw;
goal.backwards = x_goal < 0;
goal.mode = 1;
goal.max_speed = max_speed;
return true;

2
toid_bt/src/bt_executor.cpp
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@@ -75,7 +75,7 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
"RotateTowards", BT::RosNodeParams(nh, "/rotate"), get_pose);
factory.registerNodeType<toid::TranslateXNode>(
"TranslateX", BT::RosNodeParams(nh, "/translateX"), get_pose);
"TranslateX", BT::RosNodeParams(nh, "/moveCoords"), get_pose);
factory.registerNodeType<toid::EndCalibNode>(
"SetWidth", BT::RosNodeParams(nh, "/set_width"), get_pose);