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labrobotica
ros
robots
ana
iri_ana_nav_module
Commits
33252e84
Commit
33252e84
authored
May 21, 2020
by
José Enrique Domínguez Vidal
Browse files
Rotation movement subtree added
parent
1df0666d
Changes
1
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src/xml/nav_rotation_main_tree.xml
0 → 100644
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33252e84
<root
main_tree_to_execute=
"NAV_3D_ROTATION_MAIN"
>
<BehaviorTree
ID=
"NAV_3D_ROTATION_MAIN"
>
<Fallback>
<SubTree
ID=
"go_to_orientation_nav_3d"
yaw_goal=
"yaw_in"
heading_tol_goal=
"heading_tol_in"
update_goal=
"update_goal_in"
status=
"NAV_3D_BT_status_out"
frame_id=
"frame_id_in"
/>
<ForceFailure>
<Sequence>
<Action
ID=
"get_current_status_nav_3d"
status_code=
"{NAV_3D_BT_status_out}"
/>
<!-- If navigation fails we stop the movement of the robot -->
<Action
ID=
"sync_stop_nav_3d"
/>
<!-- We are not waiting until the navigation really stops -->
</Sequence>
</ForceFailure>
</Fallback>
</BehaviorTree>
<BehaviorTree
ID=
"go_to_orientation_nav_3d"
>
<Sequence>
<Action
ID=
"set_goal_frame_nav_3d"
frame_id=
"{frame_id}"
/>
<RetryUntilSuccesful
num_attempts=
"3"
>
<ReactiveFallback>
<Sequence>
<Timeout
msec=
"60000"
>
<Action
ID=
"async_go_to_orientation_nav_3d"
yaw=
"{yaw_goal}"
heading_tol=
"{heading_tol_goal}"
update_goal=
"{update_goal}"
/>
</Timeout>
<Condition
ID=
"is_succeded_nav_3d"
/>
</Sequence>
<Sequence>
<Condition
ID=
"is_preempted_nav_3d"
/>
<Timeout
msec=
"5000"
>
<Action
ID=
"NOP"
/>
</Timeout>
</Sequence>
</ReactiveFallback>
</RetryUntilSuccesful>
<Action
ID=
"get_current_status_nav_3d"
status_code=
"{status}"
/>
</Sequence>
</BehaviorTree>
</root>
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