82 lines
2.5 KiB
XML
82 lines
2.5 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<root BTCPP_format="4">
|
|
<BehaviorTree ID="seq1">
|
|
<Sequence>
|
|
<ZeroOdom service_name=""/>
|
|
<MovePointSimple x="1.05"
|
|
y="0"
|
|
theta="0"
|
|
max_speed="0.300000"
|
|
backwards="false"
|
|
action_name=""/>
|
|
<MovePointSimple x="0.76"
|
|
y="0.18"
|
|
theta="-90"
|
|
max_speed="0.250000"
|
|
backwards="true"
|
|
action_name=""/>
|
|
<TranslateX x="0.5"
|
|
max_speed="0.300000"
|
|
action_name=""/>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<BehaviorTree ID="test_1">
|
|
<Sequence>
|
|
<RotateTowards x="0.4"
|
|
y="0.0"
|
|
max_speed="0.000000"
|
|
min_angle="0.000000"
|
|
action_name=""/>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<!-- Description of Node Models (used by Groot) -->
|
|
<TreeNodesModel>
|
|
<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="TranslateX">
|
|
<input_port name="x"
|
|
type="double"/>
|
|
<input_port name="max_speed"
|
|
default="0.000000"
|
|
type="double"/>
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
</Action>
|
|
<Action ID="ZeroOdom">
|
|
<input_port name="service_name"
|
|
type="std::string">Service name</input_port>
|
|
</Action>
|
|
</TreeNodesModel>
|
|
|
|
</root>
|