125 lines
3.8 KiB
XML
125 lines
3.8 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<root BTCPP_format="4">
|
|
<BehaviorTree ID="seq">
|
|
<Sequence>
|
|
<InPose timeout="1.000000">
|
|
<Sleep msec="999999"/>
|
|
</InPose>
|
|
<Seq1 service_name=""/>
|
|
<Seq2 text="1010"
|
|
service_name=""/>
|
|
<Seq3 service_name=""/>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<BehaviorTree ID="seq1">
|
|
<Sequence>
|
|
<ZeroOdom service_name=""/>
|
|
<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=""/>
|
|
<Seq3 service_name=""/>
|
|
<MovePointSimple x="1.325"
|
|
y="0.805"
|
|
theta="-90"
|
|
max_speed="0.200000"
|
|
backwards="true"
|
|
action_name=""/>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<BehaviorTree ID="test_1">
|
|
<Sequence>
|
|
<DetectStuck timeout="1.000000">
|
|
<RotateTowards x="0.4"
|
|
y="0.0"
|
|
max_speed="0.000000"
|
|
min_angle="0.000000"
|
|
action_name=""/>
|
|
</DetectStuck>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<!-- Description of Node Models (used by Groot) -->
|
|
<TreeNodesModel>
|
|
<Decorator ID="DetectStuck">
|
|
<input_port name="timeout"
|
|
default="1.000000"
|
|
type="double"/>
|
|
</Decorator>
|
|
<Decorator ID="InPose">
|
|
<input_port name="timeout"
|
|
default="1.000000"
|
|
type="double"/>
|
|
</Decorator>
|
|
<Action ID="MovePointSimple">
|
|
<input_port name="x"
|
|
type="double"/>
|
|
<input_port name="y"
|
|
type="double"/>
|
|
<input_port name="theta"
|
|
type="double"/>
|
|
<input_port name="max_speed"
|
|
default="0.000000"
|
|
type="double"/>
|
|
<input_port name="backwards"
|
|
default="false"
|
|
type="bool"/>
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
</Action>
|
|
<Action ID="RotateTowards">
|
|
<input_port name="x"
|
|
type="double"/>
|
|
<input_port name="y"
|
|
type="double"/>
|
|
<input_port name="max_speed"
|
|
default="0.000000"
|
|
type="double"/>
|
|
<input_port name="min_angle"
|
|
default="0.000000"
|
|
type="double"/>
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
</Action>
|
|
<Action ID="Seq1">
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
<Action ID="Seq2">
|
|
<input_port name="text"
|
|
type="std::string"/>
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
<Action ID="Seq3">
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
<Action ID="ZeroOdom">
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
</TreeNodesModel>
|
|
|
|
</root> |