130 lines
4.0 KiB
XML
130 lines
4.0 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4">
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<BehaviorTree ID="seq">
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<Sequence>
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<InPose timeout="1.000000">
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<Sleep msec="999999"/>
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</InPose>
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<Seq1 service_name=""/>
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<Seq2 text="0101"
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service_name=""/>
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<Seq3 service_name=""/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="seq1">
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<Sequence>
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<ZeroOdom service_name=""/>
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<MovePointSimple x="0.1"
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y="0"
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theta="0"
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max_speed="0.350000"
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backwards="false"
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action_name=""/>
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<RotateTowards x="0.76"
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y="-0.5"
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max_speed="1.50000"
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min_angle="0.000000"
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action_name=""/>
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<MovePointSimple x="0.756"
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y="-0.5"
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theta="-45"
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max_speed="0.350000"
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backwards="false"
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action_name=""/>
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<RotateTowards x="0.76"
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y="-0.02"
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max_speed="1.50000"
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min_angle="0.000000"
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action_name=""/>
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<MovePointSimple x="0.757"
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y="-0.02"
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theta="90"
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max_speed="0.150000"
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backwards="false"
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action_name=""/>
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<MovePointSimple x="1.2"
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y="0.0"
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theta="0.0"
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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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<BehaviorTree ID="test_1">
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<Sequence>
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<DetectStuck timeout="1.000000">
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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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</DetectStuck>
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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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<Decorator ID="DetectStuck">
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<input_port name="timeout"
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default="1.000000"
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type="double"/>
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</Decorator>
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<Decorator ID="InPose">
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<input_port name="timeout"
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default="1.000000"
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type="double"/>
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</Decorator>
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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="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="Seq1">
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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="Seq2">
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<input_port name="text"
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type="std::string"/>
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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="Seq3">
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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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