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Added print to print out new calculated width

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Pimpest
2026-03-24 20:40:14 +01:00
parent 0105984458
commit c7caa69bfa
3 changed files with 106 additions and 15 deletions
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78
toid_bt/behavior_trees/behavior1.xml
View File

@@ -1,17 +1,81 @@
<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="seq1">
<Sequence>
<ZeroOdom service_name=""/>
<MovePointSimple x="1.05"
y="0"
theta="0"
max_speed="0.300000"
backwards="false"
action_name=""/>
<MovePointSimple x="0.76"
y="0.18"
theta="-90"
max_speed="0.250000"
backwards="true"
action_name=""/>
<TranslateX x="0.5"
max_speed="0.300000"
action_name=""/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="test_1">
<Sequence>
<RotateSimple angle="90"
min_angle="0.000000"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="0"
min_angle="0.000000"
action_name=""/>
<RotateTowards x="0.4"
y="0.0"
max_speed="0.000000"
min_angle="0.000000"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>
<input_port name="y"
type="double"/>
<input_port name="theta"
type="double"/>
<input_port name="max_speed"
default="0.000000"
type="double"/>
<input_port name="backwards"
default="false"
type="bool"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateTowards">
<input_port name="x"
type="double"/>
<input_port name="y"
type="double"/>
<input_port name="max_speed"
default="0.000000"
type="double"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server 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>
</Action>
</TreeNodesModel>
</root>

39
toid_bt/behavior_trees/calibration_routines.xml
View File

@@ -2,17 +2,22 @@
<root BTCPP_format="4">
<BehaviorTree ID="track_calib">
<Sequence>
<SetBlackboard value="0.264"
<SetBlackboard value="0.265"
output_key="width"/>
<Sleep msec="1000"/>
<ZeroOdom service_name=""/>
<RotateTowards x="0.4"
y="0.0"
max_speed="0.000000"
min_angle="0.000000"
action_name=""/>
<Sequence>
<Sleep msec="1000"/>
<MovePointSimple x="-0.4"
<MovePointSimple x="0.4"
y="0"
theta="0"
max_speed="0.10000"
backwards="true"
backwards="false"
action_name=""/>
<Sleep msec="500"/>
<RotateSimple angle="0"
@@ -22,11 +27,11 @@
</Sequence>
<ForceSuccess>
<Timeout msec="13000">
<MovePointSimple x="1.0"
<MovePointSimple x="-1.0"
y="0"
theta="0"
max_speed="0.070000"
backwards="false"
backwards="true"
action_name=""/>
</Timeout>
</ForceSuccess>
@@ -76,6 +81,8 @@
action_name=""/>
</Timeout>
</ForceSuccess>
<Sleep msec="1000"/>
<EndCalib service_name=""/>
</Sequence>
</BehaviorTree>
@@ -84,17 +91,21 @@
<Sleep msec="1000"/>
<ZeroOdom service_name=""/>
<Sleep msec="1000"/>
<MovePointSimple x="-1.200"
<MovePointSimple x="1.200"
y="0"
theta="0"
max_speed="0.250000"
backwards="true"
backwards="false"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="EndCalib">
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>
@@ -123,6 +134,20 @@
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateTowards">
<input_port name="x"
type="double"/>
<input_port name="y"
type="double"/>
<input_port name="max_speed"
default="0.000000"
type="double"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="SetWidth">
<input_port name="width"
type="double"/>