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Pimpest
2026-04-03 21:08:27 +02:00
parent 080676384d
commit d5ed611c20
31 changed files with 2056 additions and 21 deletions
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9
toid_bt/src/bt_executor.cpp
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@@ -9,6 +9,7 @@
#include "toid_bt/plugins/move_coords_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/stuck_detector_decorator.hpp"
#include "toid_bt/plugins/translate_x_action.hpp"
@@ -61,6 +62,14 @@ void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
factory.registerNodeType<toid::EmptySrvNode>("EndCalib", BT::RosNodeParams(nh, "/end_calib"));
factory.registerNodeType<toid::EmptySrvNode>("Seq1", BT::RosNodeParams(nh, "/sequence1"));
BT::RosNodeParams service_params(nh, "/sequence2");
service_params.server_timeout = std::chrono::seconds(15);
factory.registerNodeType<toid::SendTextNode>("Seq2", service_params);
factory.registerNodeType<toid::EmptySrvNode>("Seq3", BT::RosNodeParams(nh, "/sequence3"));
factory.registerNodeType<toid::StuckDetectorNode>("DetectStuck", get_pose);
std::cout << describeCustomNodes() << std::endl;