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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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13
toid_bt/src/bt_executor.cpp
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@@ -8,9 +8,11 @@
#include "toid_bt/plugins/end_calib_action.hpp"
#include "toid_bt/plugins/in_position_decorator.hpp"
#include "toid_bt/plugins/move_coords_action.hpp"
#include "toid_bt/plugins/pull_pin_action.hpp"
#include "toid_bt/plugins/rotate_action.hpp"
#include "toid_bt/plugins/rotate_towards_action.hpp"
#include "toid_bt/plugins/send_text_action.hpp"
#include "toid_bt/plugins/set_parameter_action.hpp"
#include "toid_bt/plugins/stuck_detector_decorator.hpp"
#include "toid_bt/plugins/translate_x_action.hpp"
@@ -59,9 +61,15 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
factory.registerNodeType<toid::MovePointNode>(
"MovePointSimple", BT::RosNodeParams(nh, "/moveCoords"), get_pose);
factory.registerNodeType<toid::MovePointNode>(
"ApproachAcorns", BT::RosNodeParams(nh, "/approachAcorns"), get_pose);
factory.registerNodeType<toid::RotateNode>(
"RotateSimple", BT::RosNodeParams(nh, "/rotate"), get_pose);
factory.registerNodeType<toid::RotateNode>(
"RotateAcorns", BT::RosNodeParams(nh, "/rotateAcorns"), get_pose);
factory.registerNodeType<toid::RotateTowardsNode>(
"RotateTowards", BT::RosNodeParams(nh, "/rotate"), get_pose);
@@ -71,6 +79,11 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
factory.registerNodeType<toid::EndCalibNode>(
"SetWidth", BT::RosNodeParams(nh, "/set_width"), get_pose);
factory.registerNodeType<toid::PullPinNode>("WaitPullPin", BT::RosNodeParams(nh, "/start_plug"));
factory.registerNodeType<toid::SetParameterNode>(
"SetParameter", BT::RosNodeParams(nh, "/compressed_image_subscriber/set_parameters"));
factory.registerNodeType<toid::EmptySrvNode>("ZeroOdom", BT::RosNodeParams(nh, "/zero"));
factory.registerNodeType<toid::EmptySrvNode>("EndCalib", BT::RosNodeParams(nh, "/end_calib"));