Commit 33252e84 authored by José Enrique Domínguez Vidal's avatar José Enrique Domínguez Vidal
Browse files

Rotation movement subtree added

parent 1df0666d
<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>
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment