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Commit 1e4f070a authored by José Enrique Domínguez Vidal's avatar José Enrique Domínguez Vidal
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Configurable frame_id with dynamic reconfigure

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src/xml/nav_main_tree.xml
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View file @ 1e4f070a
...@@ -2,10 +2,10 @@ ...@@ -2,10 +2,10 @@
<BehaviorTree ID="NAV_MAIN"> <BehaviorTree ID="NAV_MAIN">
<Fallback> <Fallback>
<SequenceStar> <SequenceStar>
<Action ID="set_goal_frame" frame_id="/map"/> <Action ID="set_goal_frame" frame_id="{f_id}"/>
<Fallback> <Fallback>
<Sequence> <Sequence>
<SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status"/> <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status" f_id="f_id"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/> <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence> </Sequence>
<ForceFailure> <ForceFailure>
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
<BehaviorTree ID="go_to_goal"> <BehaviorTree ID="go_to_goal">
<Sequence> <Sequence>
<Action ID="set_goal_frame" frame_id="/map"/> <Action ID="set_goal_frame" frame_id="{f_id}"/>
<Timeout msec="600000"> <Timeout msec="600000">
<RetryUntilSuccesful num_attempts="3"> <RetryUntilSuccesful num_attempts="3">
<Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/> <Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/>
......
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