toid/toid_bt/behavior_trees/behavior1.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="pickup_crates">
    <Seq1 service_name=""/>
  </BehaviorTree>

  <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="seq2">
    <Sequence>
      <ZeroOdom service_name=""/>
      <SetInitialPose y="0.806"
                      theta="-90"
                      frame_id="map"
                      x="1.328"
                      topic_name="__default__placeholder__"/>
      <WaitPullPin action_name=""/>
      <InPose timeout="1.000000">
        <MovePointSimple x="1.328"
                         y="0.354"
                         theta="-90"
                         max_speed="0.300000"
                         backwards="false"
                         action_name=""/>
      </InPose>
      <Seq1 service_name=""/>
      <Parallel failure_count="1"
                success_count="-1">
        <Seq2 text=""
              service_name=""/>
        <MovePointSimple x="0.795"
                         y="-0.2"
                         theta="180"
                         max_speed="0.500000"
                         backwards="false"
                         action_name=""/>
      </Parallel>
      <Parallel failure_count="1"
                success_count="-1">
        <Seq3 service_name=""/>
        <Sequence>
          <Sleep msec="500"/>
          <TranslateX x="-0.3"
                      max_speed="0.000000"
                      action_name=""/>
          <RotateTowards x="1.328"
                         y="0.354"
                         max_speed="2.000000"
                         min_angle="0.000000"
                         action_name=""/>
        </Sequence>
      </Parallel>
      <MovePointSimple x="1.328"
                       y="0.354"
                       theta="-90"
                       max_speed="0.400000"
                       backwards="true"
                       action_name=""/>
      <Seq1 service_name=""/>
      <ParallelAll max_failures="1">
        <Seq2 text=""
              service_name=""/>
        <MovePointSimple x="1.328"
                         y="-0.2"
                         theta="-90"
                         max_speed="0.200000"
                         backwards="false"
                         action_name=""/>
      </ParallelAll>
      <Parallel failure_count="1"
                success_count="-1">
        <Seq3 service_name=""/>
        <Sequence>
          <Sleep msec="500"/>
          <MovePointSimple x="1.328"
                           y="0.354"
                           theta="-90"
                           max_speed="0.400000"
                           backwards="true"
                           action_name=""/>
        </Sequence>
      </Parallel>
    </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>
    <Condition ID="SetInitialPose">
      <input_port name="y"
                  default="0.000000"
                  type="double">Y position in meters</input_port>
      <input_port name="theta"
                  default="0.000000"
                  type="double">Heading in degrees</input_port>
      <input_port name="frame_id"
                  default="map"
                  type="std::string">Reference frame</input_port>
      <input_port name="x"
                  default="0.000000"
                  type="double">X position in meters</input_port>
      <input_port name="topic_name"
                  default="__default__placeholder__"
                  type="std::string">Topic name</input_port>
    </Condition>
    <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="WaitPullPin">
      <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>