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Behavior tree glue code

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Pimpest
2026-04-15 21:18:49 +02:00
parent 0a7d8525a0
commit d0ffceebe1
5 changed files with 156 additions and 21 deletions
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62
toid_bt/behavior_trees/toid_behaviors.btproj
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@@ -4,59 +4,81 @@
<include path="calibration_routines.xml"/>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="ApproachAcorns">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="theta" type="double"/>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="backwards" type="bool" default="false"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Decorator ID="DetectStuck">
<input_port name="timeout" default="1.000000" type="double"/>
<input_port name="timeout" type="double" default="1.000000"/>
</Decorator>
<Action ID="EndCalib">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
<Decorator ID="InPose">
<input_port name="timeout" default="1.000000" type="double"/>
<input_port name="timeout" type="double" default="1.000000"/>
</Decorator>
<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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="backwards" type="bool" default="false"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="RotateAcorns">
<input_port name="angle" type="double"/>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="min_angle" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="RotateSimple">
<input_port name="angle" 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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="min_angle" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="min_angle" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="Seq1">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
<Action ID="Seq2">
<input_port name="text" type="std::string"/>
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
<Action ID="Seq3">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
<Action ID="SetParameter">
<input_port name="parameter" type="std::string"/>
<input_port name="value" type="std::string"/>
<input_port name="node" type="std::string"/>
</Action>
<Action ID="SetWidth">
<input_port name="width" type="double"/>
<input_port name="count" default="1" type="int"/>
<input_port name="count" type="int" default="1"/>
<output_port name="new_width" type="double"/>
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">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>
<input_port name="max_speed" type="double" default="0.000000"/>
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="WaitPullPin">
<input_port name="action_name" type="std::string" default="">Action server name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name" type="std::string">Service name</input_port>
<input_port name="service_name" type="std::string" default="">Service name</input_port>
</Action>
</TreeNodesModel>
</root>