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Final changes for homologation

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Pimpest
2026-04-17 11:22:07 +02:00
parent d09294c1a5
commit d26adb576a
5 changed files with 49 additions and 49 deletions
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60
toid_bt/behavior_trees/behavior1.xml
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@@ -15,39 +15,35 @@
<BehaviorTree ID="seq1">
<Sequence>
<ZeroOdom service_name=""/>
<MovePointSimple x="0.1"
y="0"
theta="0"
max_speed="0.350000"
<SetInitialPose y="0.805"
theta="-90"
frame_id="map"
x="1.325"
topic_name="__default__placeholder__"/>
<WaitPullPin action_name=""/>
<InPose timeout="1.000000">
<MovePointSimple x="1.325"
y="0.200"
theta="-90"
max_speed="0.200000"
backwards="false"
action_name=""/>
</InPose>
<Seq1 service_name=""/>
<Seq2 text=""
service_name=""/>
<MovePointSimple x="1.325"
y="-0.05"
theta="-90"
max_speed="0.200000"
backwards="false"
action_name=""/>
<RotateTowards x="0.76"
y="-0.5"
max_speed="1.50000"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.756"
y="-0.5"
theta="-45"
max_speed="0.350000"
backwards="false"
action_name=""/>
<RotateTowards x="0.76"
y="-0.02"
max_speed="1.50000"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.757"
y="-0.02"
theta="90"
max_speed="0.150000"
backwards="false"
action_name=""/>
<MovePointSimple x="1.2"
y="0.0"
theta="0.0"
max_speed="0.250000"
backwards="false"
<Seq3 service_name=""/>
<MovePointSimple x="1.325"
y="0.805"
theta="-90"
max_speed="0.200000"
backwards="true"
action_name=""/>
</Sequence>
</BehaviorTree>
@@ -126,4 +122,4 @@
</Action>
</TreeNodesModel>
</root>
</root>