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Commit be9b9813 authored by abhagwan's avatar abhagwan
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Navigation main tree corrected (redundant blocks)

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src/xml/nav_main_tree.xml
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View file @ be9b9813
<root main_tree_to_execute="NAV_MAIN"> <root main_tree_to_execute="NAV_MAIN">
<BehaviorTree ID="NAV_MAIN"> <BehaviorTree ID="NAV_MAIN">
<Fallback> <Fallback>
<SequenceStar> <Fallback>
<Action ID="set_goal_frame" frame_id="{f_id}"/> <Sequence>
<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" output_go_to_goal="NAV_BT_status" f_id="f_id"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence>
<ForceFailure>
<Sequence> <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" f_id="f_id"/> <Action ID="current_status" status_code="{NAV_BT_status}"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/> <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence> </Sequence>
<ForceFailure> </ForceFailure>
<Sequence> </Fallback>
<Action ID="current_status" status_code="{NAV_BT_status}"/>
<SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
</Sequence>
</ForceFailure>
</Fallback>
</SequenceStar>
<ForceFailure> <ForceFailure>
<Action ID="sync_stop"/> <Action ID="sync_stop"/>
</ForceFailure> </ForceFailure>
......
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