169 lines
5.3 KiB
XML
169 lines
5.3 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4">
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<BehaviorTree ID="track_calib">
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<Sequence>
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<SetBlackboard value="0.265"
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output_key="width"/>
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<Sleep msec="1000"/>
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<ZeroOdom service_name=""/>
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<RotateTowards x="0.4"
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y="0.0"
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max_speed="0.000000"
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min_angle="0.000000"
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action_name=""/>
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<Sequence>
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<Sleep msec="1000"/>
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<MovePointSimple x="0.4"
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y="0"
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theta="0"
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max_speed="0.10000"
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backwards="false"
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action_name=""/>
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<Sleep msec="500"/>
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<RotateSimple angle="0"
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max_speed="0.500000"
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min_angle="270"
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action_name=""/>
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</Sequence>
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<ForceSuccess>
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<Timeout msec="13000">
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<MovePointSimple x="-1.0"
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y="0"
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theta="0"
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max_speed="0.070000"
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backwards="true"
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action_name=""/>
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</Timeout>
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</ForceSuccess>
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<SetWidth width="{width}"
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count="1"
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new_width="{width}"
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service_name=""/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="wheel_ratio_calibration">
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<Sequence>
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<Sleep msec="5000"/>
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<ZeroOdom service_name=""/>
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<Sleep msec="1000"/>
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<Sequence>
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<MovePointSimple x="1.1"
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y="0"
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theta="0"
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max_speed="0.10000"
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backwards="false"
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action_name=""/>
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<Sleep msec="1000"/>
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<RotateSimple angle="180"
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max_speed="0.300000"
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min_angle="10"
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action_name=""/>
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<Sleep msec="500"/>
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<MovePointSimple x="0.35"
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y="0"
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theta="180"
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max_speed="0.100000"
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backwards="false"
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action_name=""/>
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<RotateSimple angle="0"
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max_speed="0.300000"
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min_angle="-10"
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action_name=""/>
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</Sequence>
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<ForceSuccess>
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<Timeout msec="9000">
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<MovePointSimple x="-0.2"
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y="0"
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theta="0"
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max_speed="0.05"
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backwards="true"
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action_name=""/>
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</Timeout>
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</ForceSuccess>
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<Sleep msec="1000"/>
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<EndCalib service_name=""/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="wheel_size">
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<Sequence>
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<Sleep msec="1000"/>
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<ZeroOdom service_name=""/>
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<Sleep msec="1000"/>
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<MovePointSimple x="1.200"
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y="0"
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theta="0"
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max_speed="0.250000"
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backwards="false"
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action_name=""/>
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</Sequence>
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</BehaviorTree>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Action ID="EndCalib">
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<input_port name="service_name"
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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"
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type="double"/>
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<input_port name="y"
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type="double"/>
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<input_port name="theta"
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type="double"/>
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<input_port name="max_speed"
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default="0.000000"
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type="double"/>
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<input_port name="backwards"
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default="false"
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type="bool"/>
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<input_port name="action_name"
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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"
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type="double"/>
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<input_port name="max_speed"
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default="0.000000"
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type="double"/>
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<input_port name="min_angle"
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default="0.000000"
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type="double"/>
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<input_port name="action_name"
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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"
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type="double"/>
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<input_port name="y"
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type="double"/>
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<input_port name="max_speed"
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default="0.000000"
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type="double"/>
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<input_port name="min_angle"
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default="0.000000"
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type="double"/>
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<input_port name="action_name"
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type="std::string">Action server name</input_port>
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</Action>
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<Action ID="SetWidth">
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<input_port name="width"
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type="double"/>
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<input_port name="count"
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default="1"
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type="int"/>
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<output_port name="new_width"
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type="double"/>
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<input_port name="service_name"
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type="std::string">Service name</input_port>
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</Action>
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<Action ID="ZeroOdom">
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<input_port name="service_name"
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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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