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Commit 2a6828b8 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Added first version of bt_definitions

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src/xml/bt_definitions.xml 0 → 100644
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<?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Action ID="NOP"/>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<!-- local costmap -->
<Action ID="nav_module_local_costmap_set_width">
<input_port name="width"> Costmap width</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_width">
<output_port name="width"> Costmap width</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_height">
<input_port name="height"> Costmap height</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_height">
<output_port name="height"> Costmap height</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_footprint">
<input_port name="footprint"> Costmap footprint</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_footprint">
<output_port name="footprint"> Costmap footprint</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_transform_tolerance">
<input_port name="tolerance"> Costmap transform tolerance</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_transform_tolerance">
<output_port name="tolerance"> Costmap transform tolerance</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_update_freq">
<input_port name="frequency"> Costmap update freq</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_update_freq">
<output_port name="frequency"> Costmap update freq</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_publish_freq">
<input_port name="frequency"> costmap publish freq</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_publish_freq">
<output_port name="frequency"> costmap publish freq</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_resolution">
<input_port name="resolution"> costmpa resolution</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_resolution">
<output_port name="resolution"> costmpa resolution</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_origin">
<input_port name="x"> Costmap X origin</input_port>
<input_port name="y"> Costmap Y origin</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_origin">
<output_port name="x"> Costmap X origin</output_port>
<output_port name="y"> Costmap Y origin</output_port>
</Action>
<Action ID="nav_module_local_costmap_set_footprint_padding">
<input_port name="padding"> Costmap padding</input_port>
</Action>
<Action ID="nav_module_local_costmap_get_footprint_padding">
<output_port name="padding"> Costmap padding</output_port>
</Action>
<!-- global costmap -->
<Action ID="nav_module_global_costmap_set_width">
<input_port name="width"> Costmap width</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_width">
<output_port name="width"> Costmap width</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_height">
<input_port name="height"> Costmap height</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_height">
<output_port name="height"> Costmap height</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_footprint">
<input_port name="footprint"> Costmap footprint</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_footprint">
<output_port name="footprint"> Costmap footprint</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_transform_tolerance">
<input_port name="tolerance"> Costmap transform tolerance</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_transform_tolerance">
<output_port name="tolerance"> Costmap transform tolerance</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_update_freq">
<input_port name="frequency"> Costmap update freq</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_update_freq">
<output_port name="frequency"> Costmap update freq</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_publish_freq">
<input_port name="frequency"> costmap publish freq</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_publish_freq">
<output_port name="frequency"> costmap publish freq</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_resolution">
<input_port name="resolution"> costmpa resolution</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_resolution">
<output_port name="resolution"> costmpa resolution</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_origin">
<input_port name="x"> Costmap X origin</input_port>
<input_port name="y"> Costmap Y origin</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_origin">
<output_port name="x"> Costmap X origin</output_port>
<output_port name="y"> Costmap Y origin</output_port>
</Action>
<Action ID="nav_module_global_costmap_set_footprint_padding">
<input_port name="padding"> Costmap padding</input_port>
</Action>
<Action ID="nav_module_global_costmap_get_footprint_padding">
<output_port name="padding"> Costmap padding</output_port>
</Action>
<!-- TEB local planner -->
<Action ID="nav_module_teb_set_goal_tolerances">
<input_port name="xy_tolerance"> Local planner xy tolerance</input_port>
<input_port name="yaw_tolerance"> Local planner yaw tolerance</input_port>
</Action>
<Action ID="nav_module_teb_get_goal_tolerances">
<output_port name="xy_tolerance"> Local planner xy tolerance</output_port>
<output_port name="yaw_tolerance"> Local planner yaw tolerance</output_port>
</Action>
<Action ID="nav_module_teb_set_xy_goal_tolerance">
<input_port name="xy_tolerance"> Local planner xy tolerance</input_port>
</Action>
<Action ID="nav_module_teb_get_xy_goal_tolerance">
<output_port name="xy_tolerance"> Local planner xy tolerance</output_port>
</Action>
<Action ID="nav_module_teb_set_yaw_goal_tolerance">
<input_port name="yaw_tolerance"> Local planner yaw tolerance</input_port>
</Action>
<Action ID="nav_module_teb_get_yaw_goal_tolerance">
<output_port name="yaw_tolerance"> Local planner yaw tolerance</output_port>
</Action>
<Action ID="nav_module_teb_set_max_vel_x">
<input_port name="max_vel_x"> Local planner max vel x</input_port>
</Action>
<Action ID="nav_module_teb_get_max_vel_x">
<output_port name="max_vel_x"> Local planner max vel x</output_port>
</Action>
<Action ID="nav_module_teb_set_mav_vel_x_backwards">
<input_port name="max_vel_x_back"> Local planner max vel x backwards</input_port>
</Action>
<Action ID="nav_module_teb_get_mav_vel_x_backwards">
<output_port name="max_vel_x_back"> Local planner max vel x backwards</output_port>
</Action>
<Action ID="nav_module_teb_set_max_vel_theta">
<input_port name="max_vel_theta"> Local planner max vel theta</input_port>
</Action>
<Action ID="nav_module_teb_get_max_vel_theta">
<output_port name="max_vel_theta"> Local planner max vel theta</output_port>
</Action>
<!-- iri_nav_module -->
<Action ID="nav_module_set_goal_frame">
<input_port name="frame_id"> The name of the new reference frame for the future goals</input_port>
</Action>
<Action ID="nav_module_set_global_frame">
<input_port name="frame_id"> The global frame id</input_port>
</Action>
<Action ID="nav_module_set_robot_frame">
<input_port name="frame_id"> The robot frame id</input_port>
</Action>
<Action ID="nav_module_costmaps_clear"/>
<Action ID="nav_module_costmaps_enable_auto_clear">
<input_port name="rate_hz"> the desired clearing rate in Hz. This value should be less than 1 Hz, normally in the range of 0.1 to 0.01 Hz</input_port>
</Action>
<Action ID="nav_module_costmaps_disable_auto_clear"/>
<Action ID="nav_module_get_current_speed">
<output_port name="speed"> current robot speed</output_port>
</Action>
<Action ID="nav_module_get_current_path">
<output_port name="path"> current path</output_port>
</Action>
<Action ID="nav_module_get_current_pose">
<output_port name="pose"> current robot pose</output_port>
</Action>
<Action ID="nav_module_get_goal_distance">
<output_port name="distance"> current goal distance</output_port>
</Action>
<Action ID="nav_module_get_path_length">
<output_port name="length"> current path length</output_port>
</Action>
<Action ID="nav_module_costmaps_shutdown">
<input_port name="shutdown"> Shutdown costmaps</input_port>
</Action>
<Action ID="nav_module_set_max_retries">
<input_port name="retries"> Max retries</input_port>
</Action>
<Action ID="nav_module_set_max_retries">
<output_port name="retries"> Max retries</output_port>
</Action>
<Action ID="nav_module_set_planner_frequency">
<input_port name="freq"> Planner frequency</input_port>
</Action>
<Action ID="nav_module_set_planner_frequency">
<output_port name="freq"> Planner frequency</output_port>
</Action>
<Action ID="nav_module_set_planner_patience">
<input_port name="time"> planner patience</input_port>
</Action>
<Action ID="nav_module_set_planner_patience">
<output_port name="time"> planner patience</output_port>
</Action>
<Action ID="nav_module_set_controller_frequency">
<input_port name="freq"> controller frequency</input_port>
</Action>
<Action ID="nav_module_set_controller_frequency">
<output_port name="freq"> controller frequency</output_port>
</Action>
<Action ID="nav_module_set_controller_patience">
<input_port name="time"> controller patience</input_port>
</Action>
<Action ID="nav_module_set_controller_patience">
<output_port name="time"> controller patience</output_port>
</Action>
<Condition ID="nav_module_are_costmaps_shutdown"/>
<Condition ID="nav_module_is_costmap_autoclear_enabled"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
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