From 1e4f070a1c13d6405e87ca7c757781db220defb5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?=
<jdominguez@iri.upc.edu>
Date: Mon, 20 Jan 2020 15:54:58 +0100
Subject: [PATCH] Configurable frame_id with dynamic reconfigure
---
src/xml/nav_main_tree.xml | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 50b0e57..38ed00b 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}"/>
--
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