Pimpest/toid
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Final changes for homologation

Browse Source
This commit is contained in:
Pimpest
2026-04-17 11:22:07 +02:00
parent d09294c1a5
commit d26adb576a
5 changed files with 49 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
toid_bt/behavior_trees/calibration_routines.xml
View File

@@ -4,6 +4,7 @@
<Sequence>
<SetBlackboard value="0.265"
output_key="width"/>
<WaitPullPin />
<Sleep msec="1000"/>
<ZeroOdom service_name=""/>
<RotateTowards x="0.4"
@@ -46,52 +47,53 @@
<Sequence>
<Sleep msec="5000"/>
<ZeroOdom service_name=""/>
<WaitPullPin />
<Sleep msec="1000"/>
<Repeat num_cycles="2">
<Repeat num_cycles="5">
<Sequence>
<MovePointSimple x="1.1"
y="0"
theta="0"
max_speed="0.10000"
max_speed="0.30000"
backwards="false"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="180"
max_speed="0.300000"
max_speed="1.300000"
min_angle="10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="0.35"
y="0"
theta="180"
max_speed="0.100000"
max_speed="0.300000"
backwards="false"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.300000"
max_speed="1.300000"
min_angle="-10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="1.1"
y="0"
theta="0"
max_speed="0.10000"
max_speed="0.30000"
backwards="false"
action_name=""/>
<Sleep msec="500"/>
<RotateSimple angle="180"
max_speed="0.300000"
max_speed="1.300000"
min_angle="-10"
action_name=""/>
<Sleep msec="500"/>
<MovePointSimple x="0.35"
y="0"
theta="180"
max_speed="0.100000"
max_speed="0.300000"
backwards="false"
action_name=""/>
<RotateSimple angle="0"
max_speed="0.300000"
max_speed="1.300000"
min_angle="10"
action_name=""/>
</Sequence>
@@ -113,6 +115,7 @@
<BehaviorTree ID="wheel_size">
<Sequence>
<WaitPullPin />
<Sleep msec="1000"/>
<ZeroOdom service_name=""/>
<Sleep msec="1000"/>
@@ -195,4 +198,4 @@
</Action>
</TreeNodesModel>
</root>
</root>