60 lines
2.9 KiB
XML
60 lines
2.9 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4" project_name="Project">
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<include path="behavior1.xml"/>
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<include path="calibration_routines.xml"/>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Decorator ID="DetectStuck">
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<input_port name="timeout" default="1.000000" type="double"/>
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</Decorator>
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<Action ID="EndCalib">
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="MovePointSimple">
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<input_port name="x" type="double"/>
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<input_port name="y" type="double"/>
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<input_port name="theta" type="double"/>
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<input_port name="max_speed" default="0.000000" type="double"/>
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<input_port name="backwards" default="false" type="bool"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="RotateSimple">
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<input_port name="angle" type="double"/>
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<input_port name="max_speed" default="0.000000" type="double"/>
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<input_port name="min_angle" default="0.000000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="RotateTowards">
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<input_port name="x" type="double"/>
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<input_port name="y" type="double"/>
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<input_port name="max_speed" default="0.000000" type="double"/>
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<input_port name="min_angle" default="0.000000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="Seq1">
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="Seq2">
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<input_port name="text" type="std::string"/>
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="Seq3">
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="SetWidth">
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<input_port name="width" type="double"/>
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<input_port name="count" default="1" type="int"/>
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<output_port name="new_width" type="double"/>
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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<Action ID="TranslateX">
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<input_port name="x" type="double"/>
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<input_port name="max_speed" default="0.000000" type="double"/>
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<input_port name="action_name" type="std::string">Action server name</input_port>
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</Action>
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<Action ID="ZeroOdom">
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<input_port name="service_name" type="std::string">Service name</input_port>
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</Action>
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</TreeNodesModel>
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</root>
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