diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml index 50b0e5761a7e9a70c24596c548d3ce63b9c7e1cc..38ed00b9685cb020737933dd19727a4157facf1f 100644 --- a/src/xml/nav_main_tree.xml +++ b/src/xml/nav_main_tree.xml @@ -2,10 +2,10 @@ <BehaviorTree ID="NAV_MAIN"> <Fallback> <SequenceStar> - <Action ID="set_goal_frame" frame_id="/map"/> + <Action ID="set_goal_frame" frame_id="{f_id}"/> <Fallback> <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}"/> </Sequence> <ForceFailure> @@ -24,7 +24,7 @@ <BehaviorTree ID="go_to_goal"> <Sequence> - <Action ID="set_goal_frame" frame_id="/map"/> + <Action ID="set_goal_frame" frame_id="{f_id}"/> <Timeout msec="600000"> <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}"/>