92 lines
4.7 KiB
XML
92 lines
4.7 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<root BTCPP_format="4" project_name="Project">
|
|
<include path="behavior1.xml"/>
|
|
<include path="calibration_routines.xml"/>
|
|
<!-- Description of Node Models (used by Groot) -->
|
|
<TreeNodesModel>
|
|
<Action ID="ApproachAcorns">
|
|
<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>
|
|
<Decorator ID="DetectStuck">
|
|
<input_port name="timeout" default="1.000000" type="double"/>
|
|
</Decorator>
|
|
<Action ID="EndCalib">
|
|
<input_port name="service_name" type="std::string">Service name</input_port>
|
|
</Action>
|
|
<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="RotateAcorns">
|
|
<input_port name="angle" 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="RotateSimple">
|
|
<input_port name="angle" 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="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="SetParameter">
|
|
<input_port name="parameter" type="std::string"/>
|
|
<input_port name="value" type="std::string"/>
|
|
<input_port name="node" type="std::string"/>
|
|
</Action>
|
|
<Action ID="SetWidth">
|
|
<input_port name="width" type="double"/>
|
|
<input_port name="count" default="1" type="int"/>
|
|
<output_port name="new_width" type="double"/>
|
|
<input_port name="service_name" type="std::string">Service 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="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>
|