80 lines
2.6 KiB
XML
80 lines
2.6 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4">
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<BehaviorTree ID="wheel_ratio_calibration">
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<Sequence>
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<Delay delay_msec="5000">
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<RotateSimple angle="0"
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max_speed="0.000000"
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min_angle="270"
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action_name=""/>
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</Delay>
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<Sequence>
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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="0.10000"
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action_name=""/>
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<RotateSimple angle="180"
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max_speed="0.500000"
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min_angle="10"
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action_name=""/>
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<MovePointSimple x="0.4"
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y="0"
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theta="180"
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max_speed="0.100000"
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action_name=""/>
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<RotateSimple angle="0"
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max_speed="0.500000"
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min_angle="-10"
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action_name=""/>
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</Sequence>
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<TranslateX x="-0.5"
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max_speed="0.050000"
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action_name=""/>
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<RotateSimple angle="0"
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max_speed="0.000000"
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min_angle="-270"
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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="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="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="TranslateX">
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<input_port name="x"
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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="action_name"
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type="std::string">Action server name</input_port>
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</Action>
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</TreeNodesModel>
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</root>
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