From be9b98135d2a356f46bbe9f484f59be6b326a87b Mon Sep 17 00:00:00 2001
From: abhagwan <albert.bhagwan@upc.edu>
Date: Thu, 6 Feb 2020 12:43:07 +0100
Subject: [PATCH] Navigation main tree corrected (redundant blocks)
---
src/xml/nav_main_tree.xml | 21 +++++++++------------
1 file changed, 9 insertions(+), 12 deletions(-)
diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 7a5ccbb..d70b39e 100644
--- a/src/xml/nav_main_tree.xml
+++ b/src/xml/nav_main_tree.xml
@@ -1,21 +1,18 @@
<root main_tree_to_execute="NAV_MAIN">
<BehaviorTree ID="NAV_MAIN">
<Fallback>
- <SequenceStar>
- <Action ID="set_goal_frame" frame_id="{f_id}"/>
- <Fallback>
+ <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" f_id="f_id"/>
+ <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
+ </Sequence>
+ <ForceFailure>
<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}"/>
</Sequence>
- <ForceFailure>
- <Sequence>
- <Action ID="current_status" status_code="{NAV_BT_status}"/>
- <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
- </Sequence>
- </ForceFailure>
- </Fallback>
- </SequenceStar>
+ </ForceFailure>
+ </Fallback>
<ForceFailure>
<Action ID="sync_stop"/>
</ForceFailure>
--
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