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Commit 347b00f8 authored by José Enrique Domínguez Vidal's avatar José Enrique Domínguez Vidal
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Problem reading variables among subtrees solved

parent d68adde4
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......@@ -20,8 +20,8 @@ void CIriAnaNavModuleBT::init(IriBehaviorTreeFactory &factory)
BT::PortsList sync_pose_port = { BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("yaw"), BT::InputPort<double>("heading_tol"), BT::InputPort<double>("x_y_pos_tol") };
BT::PortsList async_orientation_port = { BT::InputPort<double>("yaw"), BT::InputPort<double>("heading_tol"), BT::BidirectionalPort<bool>("update_goal") };
BT::PortsList async_position_port = { BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("x_y_pos_tol"), BT::BidirectionalPort<bool>("update_goal")};
BT::PortsList async_pose_port = { BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("yaw"), BT::InputPort<double>("heading_tol"), BT::InputPort<double>("x_y_pos_tol"), BT::BidirectionalPort<bool>("update_goal") };
BT::PortsList status_code_port = { BT::OutputPort<int>("status_code")};
BT::PortsList async_pose_port = { BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("yaw"), BT::InputPort<double>("heading_tol"), BT::InputPort<double>("x_y_pos_tol"), BT::BidirectionalPort<bool>("update_goal"), BT::BidirectionalPort<bool>("salida_estado") };
BT::PortsList status_code_port = { BT::BidirectionalPort<int>("status_code")};
BT::PortsList frame_port = { BT::InputPort<std::string>("frame_id") };
BT::PortsList current_pose_port = { BT::OutputPort<double>("current_x"), BT::OutputPort<double>("current_y"), BT::OutputPort<double>("current_yaw") };
BT::PortsList costmap_port = { BT::InputPort<double>("rate_hz") };
......
......@@ -4,9 +4,15 @@
<SequenceStar>
<Action ID="set_goal_frame" frame_id="/map"/>
<Fallback>
<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"/>
<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"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence>
<ForceFailure>
<Action ID="current_status" status_code="{NAV_BT_status}"/>
<Sequence>
<Action ID="current_status" status_code="{NAV_BT_status}"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence>
</ForceFailure>
</Fallback>
</SequenceStar>
......@@ -26,6 +32,8 @@
</Timeout>
<Condition ID="is_succeded"/>
<Action ID="current_status" status_code="{NAV_BT_status}"/>
<!-- <SetBlackboard output_key="output" value="{NAV_BT_status}"/> -->
<SetBlackboard output_key="output_go_to_goal" value="{NAV_BT_status}"/>
</Sequence>
</BehaviorTree>
......
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